# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2010_Taney_1v1.rte # Mission File: 2010_Taney_1v1.cfg # Distance: 73780.125921 (m) # Estimated Time: 53135 (s) 14.760 (hr) # Abort Time: 57600 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 3708 (s) # Way Points: 191 # Route Points: 665 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom disabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 75 (m) # Minimum Vehicle Altitude: 75 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 3056.157114 (m) # Abort Vehicle Depth: 3093.657114 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 2337.237732 m # Spiral descent altitude: 75 m # Forward Looking Distance: 50 (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 -125.623406 36.859902 -2422.237732 0.000000 1 # 1 -125.614800 36.864136 -2395.666077 900.108588 3 # 2 -125.619307 36.855543 -2367.420288 1935.272258 1 # 3 -125.619826 36.851456 -2351.830872 2391.324729 1 # 4 -125.620367 36.846902 -2316.996155 2899.186738 1 # 5 -125.619070 36.842917 -2282.586792 3356.426797 1 # 6 -125.616939 36.839448 -2239.150208 3785.868643 1 # 7 -125.615266 36.836934 -2232.484070 4102.377566 4 # 8 -125.612990 36.838290 -2175.890076 4355.226710 3 # 9 -125.614813 36.840677 -2198.241272 4666.112412 1 # 10 -125.616894 36.843805 -2248.040222 5059.818633 1 # 11 -125.617940 36.847235 -2253.030090 5451.886679 1 # 12 -125.617341 36.851231 -2299.094849 5898.631651 1 # 13 -125.616896 36.855223 -2317.553162 6343.558732 1 # 14 -125.615208 36.859087 -2365.524719 6798.144405 1 # 15 -125.612759 36.863194 -2397.296753 7303.713000 1 # 16 -125.609785 36.866985 -2395.556152 7801.059452 1 # 17 -125.605027 36.870543 -2436.821106 8380.779813 1 # 18 -125.602035 36.872364 -2455.347717 8715.555075 4 # 19 -125.599331 36.869298 -2586.371887 9132.574640 3 # 20 -125.595120 36.870728 -2602.332825 9540.319637 1 # 21 -125.589980 36.871694 -2625.005249 10011.089369 1 # 22 -125.585079 36.871534 -2640.430786 10448.561898 1 # 23 -125.580194 36.870213 -2659.302063 10908.211997 1 # 24 -125.574574 36.867753 -2668.687134 11479.033694 1 # 25 -125.569910 36.864929 -2678.425476 11999.872375 4 # 26 -125.570739 36.863107 -2689.947083 12215.279122 3 # 27 -125.575709 36.865831 -2664.055481 12751.864213 1 # 28 -125.580991 36.868578 -2644.434814 13313.020081 1 # 29 -125.585437 36.869508 -2638.886536 13722.747973 1 # 30 -125.589858 36.869723 -2615.278931 14117.829240 1 # 31 -125.594169 36.868945 -2613.550232 14511.883456 1 # 32 -125.599549 36.868858 -2586.966675 14991.775051 1 # 33 -125.601349 36.867139 -2585.239807 15241.207156 1 # 34 -125.604477 36.865732 -2574.402588 15560.863638 1 # 35 -125.606982 36.863126 -2556.557739 15926.439919 1 # 36 -125.610032 36.858299 -2521.908691 16527.370188 1 # 37 -125.611471 36.855094 -2510.928223 16905.621194 1 # 38 -125.611860 36.851725 -2478.554443 17281.168395 1 # 39 -125.611404 36.848561 -2508.572144 17634.678079 1 # 40 -125.608887 36.845132 -2549.225098 18076.635140 1 # 41 -125.605946 36.842894 -2565.125671 18437.931693 1 # 42 -125.603361 36.839715 -2549.965149 18859.516593 1 # 43 -125.599457 36.837592 -2570.459534 19280.110828 4 # 44 -125.599243 36.839276 -2591.282288 19468.098534 3 # 45 -125.601697 36.840872 -2571.125488 19749.694133 1 # 46 -125.604300 36.843428 -2577.447205 20116.377237 1 # 47 -125.607057 36.845950 -2561.421326 20489.009165 1 # 48 -125.609291 36.849043 -2524.353027 20886.046510 1 # 49 -125.609385 36.851810 -2508.837219 21193.307273 1 # 50 -125.609400 36.854517 -2516.008728 21493.742653 1 # 51 -125.608262 36.857498 -2532.782654 21839.824263 1 # 52 -125.605166 36.862077 -2553.871155 22418.350932 1 # 53 -125.602694 36.864558 -2574.767212 22771.101198 1 # 54 -125.600509 36.866348 -2584.187988 23049.440016 1 # 55 -125.598231 36.867674 -2594.882690 23300.325299 1 # 56 -125.593813 36.867583 -2604.557495 23694.440005 1 # 57 -125.589647 36.868048 -2587.884399 24069.590286 1 # 58 -125.585768 36.867852 -2617.382568 24416.222492 1 # 59 -125.581712 36.867007 -2636.501953 24789.908456 4 # 60 -125.582676 36.865741 -2643.280457 24954.612108 3 # 61 -125.586061 36.866197 -2618.992432 25260.648530 1 # 62 -125.589592 36.866431 -2601.933838 25576.705247 1 # 63 -125.593813 36.866432 -2585.234680 25953.155880 1 # 64 -125.597214 36.866233 -2589.707703 26257.277969 1 # 65 -125.599077 36.865228 -2584.852783 26457.455790 1 # 66 -125.600917 36.863539 -2571.758484 26706.648861 1 # 67 -125.603279 36.861247 -2558.175537 27036.941452 1 # 68 -125.606067 36.856706 -2551.112244 27599.073498 1 # 69 -125.607028 36.854227 -2528.699280 27887.299719 1 # 70 -125.607063 36.851830 -2532.496582 28153.333750 1 # 71 -125.606831 36.849564 -2539.867615 28405.734681 1 # 72 -125.604966 36.847085 -2573.930237 28727.324208 1 # 73 -125.602720 36.844770 -2582.463379 29053.239463 1 # 74 -125.600079 36.842245 -2585.612915 29419.337020 4 # 75 -125.600912 36.846271 -2586.553894 29872.426633 3 # 76 -125.602682 36.848224 -2581.526794 30140.558089 1 # 77 -125.604136 36.849997 -2573.806152 30376.231212 1 # 78 -125.604471 36.851887 -2564.980896 30588.207739 1 # 79 -125.604615 36.853844 -2559.347778 30805.816502 1 # 80 -125.603908 36.855820 -2562.142090 31034.012551 1 # 81 -125.601502 36.860228 -2564.819763 31568.360628 1 # 82 -125.599209 36.862270 -2570.319153 31873.597615 1 # 83 -125.597597 36.863829 -2573.524475 32098.664482 1 # 84 -125.596228 36.864575 -2579.377319 32246.149714 1 # 85 -125.593754 36.864691 -2578.593811 32467.209137 1 # 86 -125.589416 36.864661 -2610.228455 32854.120892 1 # 87 -125.586195 36.864452 -2619.828186 33142.347117 1 # 88 -125.584139 36.864341 -2630.547913 33326.135064 4 # 89 -125.586493 36.861800 -2627.352722 33677.683797 3 # 90 -125.589175 36.862115 -2605.357483 33919.472837 1 # 91 -125.593049 36.861004 -2593.431519 34286.302185 1 # 92 -125.595332 36.859834 -2589.710571 34527.869297 1 # 93 -125.597874 36.857134 -2573.712463 34903.670313 1 # 94 -125.599510 36.854018 -2584.426147 35279.106419 1 # 95 -125.600458 36.851135 -2587.632568 35610.119935 1 # 96 -125.600958 36.848759 -2587.436401 35877.560914 3 # 97 -125.602018 36.850323 -2583.149353 36075.192703 1 # 98 -125.602314 36.852214 -2579.742554 36286.803438 1 # 99 -125.602285 36.853646 -2575.001526 36445.762403 1 # 100 -125.601866 36.854993 -2576.465881 36599.886572 1 # 101 -125.599450 36.859091 -2570.856750 37103.222429 1 # 102 -125.597274 36.861161 -2580.832642 37403.975019 1 # 103 -125.595499 36.862475 -2583.420837 37619.298753 1 # 104 -125.593423 36.862925 -2578.805298 37811.052866 1 # 105 -125.589444 36.863198 -2606.325500 38167.249604 1 # 106 -125.585843 36.863184 -2625.413513 38488.486850 3 # 107 -125.580415 36.866444 -2648.953979 39092.897825 3 # 108 -125.576918 36.864933 -2664.829163 39447.030705 1 # 109 -125.571939 36.861930 -2688.801086 40002.379295 3 # 110 -125.578560 36.868849 -2657.018982 40971.222306 3 # 111 -125.592897 36.862252 -2594.612549 42444.781045 3 # 112 -125.602772 36.865707 -2579.993958 43405.433117 3 # 113 -125.603261 36.843607 -2581.478271 45859.102814 1 # 114 -125.597714 36.836416 -2578.625854 46798.211183 1 # 115 -125.590547 36.835079 -2765.343445 47454.706020 1 # 116 -125.589351 36.832897 -2766.701904 47719.482625 1 # 117 -125.587413 36.831663 -2757.693298 47940.056260 4 # 118 -125.587176 36.833815 -2771.758423 48179.865414 3 # 119 -125.591216 36.836558 -2771.193726 48651.780274 1 # 120 -125.593814 36.838991 -2768.676331 49007.642236 1 # 121 -125.595550 36.842251 -2773.295288 49401.272766 1 # 122 -125.596496 36.846181 -2774.260864 49845.677168 1 # 123 -125.595744 36.850274 -2791.921143 50304.855107 1 # 124 -125.594889 36.853590 -2797.852966 50680.846368 1 # 125 -125.590652 36.856545 -2834.406067 51181.237329 1 # 126 -125.587369 36.857923 -2800.320312 51511.656197 1 # 127 -125.584218 36.858645 -2798.042297 51803.886469 1 # 128 -125.582066 36.861399 -2791.444519 52164.869488 1 # 129 -125.579653 36.862198 -2813.945374 52397.616465 1 # 130 -125.577395 36.860691 -2821.062317 52659.382476 1 # 131 -125.574790 36.858041 -2823.460571 53034.310292 1 # 132 -125.573608 36.856293 -2856.273438 53255.099963 4 # 133 -125.575705 36.855314 -2846.629150 53471.390208 3 # 134 -125.577008 36.857215 -2829.516235 53712.265572 1 # 135 -125.580087 36.860135 -2810.870605 54137.131339 1 # 136 -125.583346 36.858042 -2823.599670 54509.299188 1 # 137 -125.586498 36.856200 -2840.718628 54856.909975 1 # 138 -125.589401 36.855048 -2840.193481 55145.776450 1 # 139 -125.592571 36.852614 -2829.048401 55536.855253 1 # 140 -125.593405 36.849796 -2812.366272 55858.426248 1 # 141 -125.594137 36.846233 -2795.423035 56259.257933 1 # 142 -125.593245 36.842768 -2783.269348 56652.039727 1 # 143 -125.591681 36.840002 -2786.609985 56989.313301 1 # 144 -125.589940 36.837737 -2782.558472 57284.788418 1 # 145 -125.587487 36.836173 -2786.757446 57564.153059 4 # 146 -125.587058 36.838360 -2790.857727 57809.951002 3 # 147 -125.589384 36.840767 -2798.412964 58148.300693 1 # 148 -125.590784 36.843257 -2846.682983 58451.579001 1 # 149 -125.591459 36.846042 -2845.340820 58766.578033 1 # 150 -125.591064 36.849256 -2848.220093 59124.993041 1 # 151 -125.590407 36.851572 -2857.629883 59388.754870 1 # 152 -125.588072 36.853521 -2850.087891 59689.031523 1 # 153 -125.585558 36.854727 -2854.379639 59950.250575 1 # 154 -125.582167 36.856356 -2846.979675 60302.679707 1 # 155 -125.579327 36.858254 -2839.286499 60632.123193 4 # 156 -125.577803 36.856700 -2830.538574 60851.694892 3 # 157 -125.580802 36.854924 -2857.148499 61184.020073 1 # 158 -125.583997 36.853205 -2855.819580 61526.918622 1 # 159 -125.586363 36.852189 -2857.970703 61766.230249 1 # 160 -125.588092 36.850658 -2855.243225 61995.754319 1 # 161 -125.588690 36.848872 -2840.680176 62201.104936 1 # 162 -125.589062 36.846126 -2848.909790 62507.724985 1 # 163 -125.588433 36.843557 -2825.084961 62798.319240 1 # 164 -125.586828 36.840730 -2829.334045 63143.297028 4 # 165 -125.584710 36.842207 -2834.054504 63393.492509 3 # 166 -125.586010 36.844014 -2811.868774 63625.213030 1 # 167 -125.586589 36.846273 -2791.529236 63881.200947 1 # 168 -125.586428 36.848392 -2801.973511 64116.874069 1 # 169 -125.586089 36.849800 -2821.551331 64276.020376 1 # 170 -125.585004 36.850943 -2860.031921 64435.615406 1 # 171 -125.582907 36.851891 -2858.764099 64650.273875 1 # 172 -125.579169 36.853559 -2825.178955 65031.678535 1 # 173 -125.574799 36.856019 -2834.402527 65507.567167 4 # 174 -125.575815 36.857459 -2826.639709 65691.355112 3 # 175 -125.578757 36.852821 -2857.670105 66269.139631 1 # 176 -125.582318 36.848202 -2820.092712 66872.386014 1 # 177 -125.583680 36.843816 -2839.629150 67374.120943 3 # 178 -125.584503 36.846412 -2802.350159 67671.445813 1 # 179 -125.583864 36.849257 -2831.640442 67992.386094 1 # 180 -125.581090 36.851962 -2850.314636 68381.463542 3 # 181 -125.587820 36.856358 -2836.131165 69155.102194 3 # 182 -125.592916 36.853633 -2827.993347 69701.100522 1 # 183 -125.590108 36.845014 -2847.658569 70690.106077 1 # 184 -125.587611 36.839841 -2812.931458 71305.983780 1 # 185 -125.587240 36.835712 -2786.264526 71765.615740 3 # 186 -125.584814 36.837258 -2858.296021 72041.805192 1 # 187 -125.583089 36.840033 -2909.183777 72386.229743 1 # 188 -125.580306 36.843609 -2986.496948 72854.455382 1 # 189 -125.577880 36.847458 -3069.656494 73333.327590 1 # 190 -125.574495 36.850425 -3091.296753 73780.125921 4 # # A total of 665 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 73780.125921 #define MISSION_TIME 53135 #define MISSION_TIMEOUT 57600 #define DEPTH_MAX 3056.157114 #define DEPTH_ABORT 3093.657114 #define ALTITUDE_DESIRED 75.000000 #define ALTITUDE_MIN 75.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 2337.237732 #define SPIRAL_DESCENT_ALTITUDE 75.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 3708; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 190 # Segment length 134.302243 meters # Minimum depth: 3090.697988 meters looking forward 50.000000 meters along route # Maximum depth: 3093.648222 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3015.697988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850425; longitude = -125.574495; captureRadius = 10; duration = 268; # abortOnTimeout = True; initialDepth = 3018.657114; finalDepth = 3015.697988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5987650000002 # Actual altitude: 75.5987650000002 # Commanded vehicle depth: 3015.697988 # Seafloor depth: -3091.296753 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 190 # Segment length 103.484925 meters # Minimum depth: 3093.657114 meters looking forward 50.000000 meters along route # Maximum depth: 3097.848274 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3018.657114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849533; longitude = -125.575513; captureRadius = 10; duration = 206; initialDepth = 3011.974749; finalDepth = 3018.657114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5987650000002 # Actual altitude: 75.5987650000002 # Commanded vehicle depth: 3018.657114 # Seafloor depth: -3093.657114 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 103.485383 meters # Minimum depth: 3086.974749 meters looking forward 50.000000 meters along route # Maximum depth: 3098.218466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 3011.974749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848846; longitude = -125.576297; captureRadius = 10; duration = 206; initialDepth = 2996.466056; finalDepth = 3011.974749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.2437169999998 # Actual altitude: 86.2437169999998 # Commanded vehicle depth: 3011.974749 # Seafloor depth: -3098.218466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 344.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 344.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 105.525780 meters # Minimum depth: 3071.466056 meters looking forward 50.000000 meters along route # Maximum depth: 3086.487810 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2996.466056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848159; longitude = -125.577081; captureRadius = 10; duration = 211; initialDepth = 2971.459427; finalDepth = 2996.466056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.0217539999999 # Actual altitude: 90.0217539999999 # Commanded vehicle depth: 2996.466056 # Seafloor depth: -3086.487810 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.01; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 189 # Segment length 167.733060 meters # Minimum depth: 3046.459427 meters looking forward 50.000000 meters along route # Maximum depth: 3069.656494 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2971.459427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847458; longitude = -125.577880; captureRadius = 10; duration = 335; # abortOnTimeout = True; initialDepth = 2957.690596; finalDepth = 2971.459427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.1970670000001 # Actual altitude: 98.1970670000001 # Commanded vehicle depth: 2971.459427 # Seafloor depth: -3069.656494 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.46; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 189 # Segment length 100.921561 meters # Minimum depth: 3032.690596 meters looking forward 50.000000 meters along route # Maximum depth: 3044.963968 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2957.690596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846110; longitude = -125.578730; captureRadius = 10; duration = 201; initialDepth = 2933.569552; finalDepth = 2957.690596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.1970670000001 # Actual altitude: 98.1970670000001 # Commanded vehicle depth: 2957.690596 # Seafloor depth: -3044.963968 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.46; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 189 # Segment length 104.147852 meters # Minimum depth: 3008.569552 meters looking forward 50.000000 meters along route # Maximum depth: 3031.307636 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2933.569552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845299; longitude = -125.579241; captureRadius = 10; duration = 208; initialDepth = 2911.119244; finalDepth = 2933.569552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.7380840000001 # Actual altitude: 97.7380840000001 # Commanded vehicle depth: 2933.569552 # Seafloor depth: -3031.307636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.32; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 189 # Segment length 106.069735 meters # Minimum depth: 2986.119244 meters looking forward 50.000000 meters along route # Maximum depth: 3008.050015 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2911.119244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844462; longitude = -125.579768; captureRadius = 10; duration = 212; initialDepth = 2875.260689; finalDepth = 2911.119244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 97.7380840000001 # Actual altitude: 97.7380840000001 # Commanded vehicle depth: 2911.119244 # Seafloor depth: -3008.050015 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.32; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 188 # Segment length 144.572115 meters # Minimum depth: 2950.260689 meters looking forward 50.000000 meters along route # Maximum depth: 2986.496948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2875.260689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843609; longitude = -125.580306; captureRadius = 10; duration = 289; # abortOnTimeout = True; initialDepth = 2873.464457; finalDepth = 2875.260689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.236259 # Actual altitude: 100 # Commanded vehicle depth: 2875.260689 # Seafloor depth: -2986.496948 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 188 # Segment length 106.188497 meters # Minimum depth: 2948.464457 meters looking forward 50.000000 meters along route # Maximum depth: 2959.854897 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2873.464457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842505; longitude = -125.581165; captureRadius = 10; duration = 212; initialDepth = 2840.058633; finalDepth = 2873.464457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.236259 # Actual altitude: 100 # Commanded vehicle depth: 2873.464457 # Seafloor depth: -2950.824439 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 188 # Segment length 111.051176 meters # Minimum depth: 2915.058633 meters looking forward 50.000000 meters along route # Maximum depth: 2947.669378 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2840.058633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841694; longitude = -125.581796; captureRadius = 10; duration = 222; initialDepth = 2833.596035; finalDepth = 2840.058633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.610745 # Actual altitude: 100 # Commanded vehicle depth: 2840.058633 # Seafloor depth: -2947.669378 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 188 # Segment length 106.413851 meters # Minimum depth: 2908.596035 meters looking forward 50.000000 meters along route # Maximum depth: 2914.109579 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2833.596035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840846; longitude = -125.582456; captureRadius = 10; duration = 212; initialDepth = 2834.183777; finalDepth = 2833.596035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 107.610745 # Actual altitude: 100 # Commanded vehicle depth: 2833.596035 # Seafloor depth: -2914.109579 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 187 # Segment length 140.558845 meters # Minimum depth: 2909.183777 meters looking forward 50.000000 meters along route # Maximum depth: 2909.784400 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2834.183777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840033; longitude = -125.583089; captureRadius = 10; duration = 281; # abortOnTimeout = True; initialDepth = 2817.190476; finalDepth = 2834.183777; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.5135439999999 # Actual altitude: 80.5135439999999 # Commanded vehicle depth: 2834.183777 # Seafloor depth: -2909.183777 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 322.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 187 # Segment length 100.648241 meters # Minimum depth: 2892.190476 meters looking forward 50.000000 meters along route # Maximum depth: 2909.140598 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2817.190476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838901; longitude = -125.583793; captureRadius = 10; duration = 201; initialDepth = 2783.698450; finalDepth = 2817.190476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.9501219999997 # Actual altitude: 91.9501219999997 # Commanded vehicle depth: 2817.190476 # Seafloor depth: -2909.140598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.59; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 187 # Segment length 103.217465 meters # Minimum depth: 2858.698450 meters looking forward 50.000000 meters along route # Maximum depth: 2888.837230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2783.698450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838090; longitude = -125.584297; captureRadius = 10; duration = 206; initialDepth = 2718.214901; finalDepth = 2783.698450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 105.13878 # Actual altitude: 100 # Commanded vehicle depth: 2783.69845 # Seafloor depth: -2888.837230 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 186 # Segment length 173.369263 meters # Minimum depth: 2793.214901 meters looking forward 50.000000 meters along route # Maximum depth: 2858.296021 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2718.214901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837258; longitude = -125.584814; captureRadius = 10; duration = 346; # abortOnTimeout = True; initialDepth = 2711.618921; finalDepth = 2718.214901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 140.08112 # Actual altitude: 100 # Commanded vehicle depth: 2718.214901 # Seafloor depth: -2858.296021 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 186 # Segment length 102.820189 meters # Minimum depth: 2786.618921 meters looking forward 50.000000 meters along route # Maximum depth: 2791.054777 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2711.618921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836287; longitude = -125.586337; captureRadius = 10; duration = 205; initialDepth = 2708.967759; finalDepth = 2711.618921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 140.08112 # Actual altitude: 100 # Commanded vehicle depth: 2711.618921 # Seafloor depth: -2791.054777 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 185 # Segment length 154.327003 meters # Minimum depth: 2783.967759 meters looking forward 50.000000 meters along route # Maximum depth: 2786.264526 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2708.967759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835712; longitude = -125.587240; captureRadius = 10; duration = 308; # abortOnTimeout = True; initialDepth = 2708.343551; finalDepth = 2708.967759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.4358560000001 # Actual altitude: 79.4358560000001 # Commanded vehicle depth: 2708.967759 # Seafloor depth: -2786.264526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 317.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 185 # Segment length 100.293814 meters # Minimum depth: 2783.343551 meters looking forward 50.000000 meters along route # Maximum depth: 2785.096212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2708.343551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837098; longitude = -125.587364; captureRadius = 10; duration = 200; initialDepth = 2710.340382; finalDepth = 2708.343551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2967669999998 # Actual altitude: 77.2967669999998 # Commanded vehicle depth: 2708.343551 # Seafloor depth: -2783.343551 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 185 # Segment length 100.293825 meters # Minimum depth: 2785.340382 meters looking forward 50.000000 meters along route # Maximum depth: 2791.779082 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2710.340382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837999; longitude = -125.587445; captureRadius = 10; duration = 200; initialDepth = 2718.502978; finalDepth = 2710.340382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2710.340382 # Seafloor depth: -2785.340382 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 185 # Segment length 104.717318 meters # Minimum depth: 2793.502978 meters looking forward 50.000000 meters along route # Maximum depth: 2812.031305 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2718.502978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838901; longitude = -125.587526; captureRadius = 10; duration = 209; initialDepth = 2737.931458; finalDepth = 2718.502978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2718.502978 # Seafloor depth: -2793.502978 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 184 # Segment length 91.837019 meters # Minimum depth: 2812.931458 meters looking forward 50.000000 meters along route # Maximum depth: 2829.502132 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2737.931458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839841; longitude = -125.587611; captureRadius = 10; duration = 183; # abortOnTimeout = True; initialDepth = 2741.796032; finalDepth = 2737.931458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2737.931458 # Seafloor depth: -2812.931458 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 184 # Segment length 107.299306 meters # Minimum depth: 2816.796032 meters looking forward 50.000000 meters along route # Maximum depth: 2830.098828 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2741.796032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840613; longitude = -125.587983; captureRadius = 10; duration = 214; initialDepth = 2739.278397; finalDepth = 2741.796032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.3027959999999 # Actual altitude: 88.3027959999999 # Commanded vehicle depth: 2741.796032 # Seafloor depth: -2830.098828 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 184 # Segment length 103.840972 meters # Minimum depth: 2814.278397 meters looking forward 50.000000 meters along route # Maximum depth: 2816.561578 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2739.278397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841514; longitude = -125.588418; captureRadius = 10; duration = 207; initialDepth = 2740.465337; finalDepth = 2739.278397; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.3027959999999 # Actual altitude: 88.3027959999999 # Commanded vehicle depth: 2739.278397 # Seafloor depth: -2816.561578 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 184 # Segment length 100.027355 meters # Minimum depth: 2815.465337 meters looking forward 50.000000 meters along route # Maximum depth: 2834.830182 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2740.465337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842386; longitude = -125.588839; captureRadius = 10; duration = 200; initialDepth = 2760.051312; finalDepth = 2740.465337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2831809999998 # Actual altitude: 77.2831809999998 # Commanded vehicle depth: 2740.465337 # Seafloor depth: -2815.465337 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 184 # Segment length 107.298933 meters # Minimum depth: 2835.051312 meters looking forward 50.000000 meters along route # Maximum depth: 2838.373209 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2760.051312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843226; longitude = -125.589245; captureRadius = 10; duration = 214; initialDepth = 2765.579261; finalDepth = 2760.051312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.762322 # Actual altitude: 76.762322 # Commanded vehicle depth: 2760.051312 # Seafloor depth: -2836.813634 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 184 # Segment length 105.574118 meters # Minimum depth: 2840.579261 meters looking forward 50.000000 meters along route # Maximum depth: 2847.823228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2765.579261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844127; longitude = -125.589680; captureRadius = 10; duration = 211; initialDepth = 2771.126135; finalDepth = 2765.579261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.762322 # Actual altitude: 76.762322 # Commanded vehicle depth: 2765.579261 # Seafloor depth: -2840.579261 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 183 # Segment length 156.768025 meters # Minimum depth: 2846.126135 meters looking forward 50.000000 meters along route # Maximum depth: 2847.658569 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2771.126135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845014; longitude = -125.590108; captureRadius = 10; duration = 313; # abortOnTimeout = True; initialDepth = 2771.030292; finalDepth = 2771.126135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5324340000002 # Actual altitude: 76.5324340000002 # Commanded vehicle depth: 2771.126135 # Seafloor depth: -2847.658569 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 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 183 # Segment length 106.430587 meters # Minimum depth: 2846.030292 meters looking forward 50.000000 meters along route # Maximum depth: 2847.634317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2771.030292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846380; longitude = -125.590553; captureRadius = 10; duration = 212; initialDepth = 2772.851889; finalDepth = 2771.030292; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5324340000002 # Actual altitude: 76.5324340000002 # Commanded vehicle depth: 2771.030292 # Seafloor depth: -2846.358848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 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 183 # Segment length 100.377161 meters # Minimum depth: 2847.851889 meters looking forward 50.000000 meters along route # Maximum depth: 2849.986662 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.851889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847308; longitude = -125.590855; captureRadius = 10; duration = 200; initialDepth = 2772.818420; finalDepth = 2772.851889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3285559999999 # Actual altitude: 75.3285559999999 # Commanded vehicle depth: 2772.851889 # Seafloor depth: -2847.851889 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 301.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 183 # Segment length 103.403800 meters # Minimum depth: 2847.818420 meters looking forward 50.000000 meters along route # Maximum depth: 2849.824132 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.818420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848183; longitude = -125.591140; captureRadius = 10; duration = 206; initialDepth = 2772.570593; finalDepth = 2772.818420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5438399999998 # Actual altitude: 75.5438399999998 # Commanded vehicle depth: 2772.81842 # Seafloor depth: -2848.362260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 183 # Segment length 103.403751 meters # Minimum depth: 2847.570593 meters looking forward 50.000000 meters along route # Maximum depth: 2852.154824 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.570593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849084; longitude = -125.591434; captureRadius = 10; duration = 206; initialDepth = 2777.075560; finalDepth = 2772.570593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5438399999998 # Actual altitude: 75.5438399999998 # Commanded vehicle depth: 2772.570593 # Seafloor depth: -2847.570593 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 183 # Segment length 103.403702 meters # Minimum depth: 2852.075560 meters looking forward 50.000000 meters along route # Maximum depth: 2861.620253 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2777.075560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849985; longitude = -125.591727; captureRadius = 10; duration = 206; initialDepth = 2752.224972; finalDepth = 2777.075560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2777.07556 # Seafloor depth: -2852.075560 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 183 # Segment length 103.403652 meters # Minimum depth: 2827.224972 meters looking forward 50.000000 meters along route # Maximum depth: 2860.745684 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2752.224972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850886; longitude = -125.592021; captureRadius = 10; duration = 206; initialDepth = 2752.041896; finalDepth = 2752.224972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.520712 # Actual altitude: 100 # Commanded vehicle depth: 2752.224972 # Seafloor depth: -2860.745684 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 183 # Segment length 103.403603 meters # Minimum depth: 2827.041896 meters looking forward 50.000000 meters along route # Maximum depth: 2828.839621 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2752.041896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851787; longitude = -125.592314; captureRadius = 10; duration = 206; initialDepth = 2753.113977; finalDepth = 2752.041896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.520712 # Actual altitude: 100 # Commanded vehicle depth: 2752.041896 # Seafloor depth: -2827.041896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 183 # Segment length 108.411274 meters # Minimum depth: 2828.113977 meters looking forward 50.000000 meters along route # Maximum depth: 2829.222981 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2753.113977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852688; longitude = -125.592608; captureRadius = 10; duration = 216; initialDepth = 2752.993347; finalDepth = 2753.113977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.1090039999999 # Actual altitude: 76.1090039999999 # Commanded vehicle depth: 2753.113977 # Seafloor depth: -2829.222981 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 304.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 182 # Segment length 124.762462 meters # Minimum depth: 2827.993347 meters looking forward 50.000000 meters along route # Maximum depth: 2829.378694 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2752.993347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853633; longitude = -125.592916; captureRadius = 10; duration = 249; # abortOnTimeout = True; initialDepth = 2754.560154; finalDepth = 2752.993347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1090039999999 # Actual altitude: 76.1090039999999 # Commanded vehicle depth: 2752.993347 # Seafloor depth: -2827.993347 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 304.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 182 # Segment length 107.989674 meters # Minimum depth: 2829.560154 meters looking forward 50.000000 meters along route # Maximum depth: 2839.952256 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2754.560154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854256; longitude = -125.591751; captureRadius = 10; duration = 215; initialDepth = 2765.012886; finalDepth = 2754.560154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2754.560154 # Seafloor depth: -2829.560154 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 182 # Segment length 107.989095 meters # Minimum depth: 2840.012886 meters looking forward 50.000000 meters along route # Maximum depth: 2840.665121 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2765.012886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854795; longitude = -125.590743; captureRadius = 10; duration = 215; initialDepth = 2765.347968; finalDepth = 2765.012886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6130440000002 # Actual altitude: 75.6130440000002 # Commanded vehicle depth: 2765.012886 # Seafloor depth: -2840.625930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 182 # Segment length 101.990132 meters # Minimum depth: 2840.347968 meters looking forward 50.000000 meters along route # Maximum depth: 2841.249841 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2765.347968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855334; longitude = -125.589735; captureRadius = 10; duration = 203; initialDepth = 2760.670716; finalDepth = 2765.347968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6130440000002 # Actual altitude: 75.6130440000002 # Commanded vehicle depth: 2765.347968 # Seafloor depth: -2840.347968 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 302.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 182 # Segment length 103.266965 meters # Minimum depth: 2835.670716 meters looking forward 50.000000 meters along route # Maximum depth: 2841.163222 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2760.670716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855843; longitude = -125.588783; captureRadius = 10; duration = 206; initialDepth = 2761.131165; finalDepth = 2760.670716; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.492506 # Actual altitude: 80.492506 # Commanded vehicle depth: 2760.670716 # Seafloor depth: -2841.163222 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 321.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.97; 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 181 # Segment length 154.123319 meters # Minimum depth: 2836.131165 meters looking forward 50.000000 meters along route # Maximum depth: 2852.624394 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2761.131165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856358; longitude = -125.587820; captureRadius = 10; duration = 308; # abortOnTimeout = True; initialDepth = 2777.775439; finalDepth = 2761.131165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.492506 # Actual altitude: 80.492506 # Commanded vehicle depth: 2761.131165 # Seafloor depth: -2836.131165 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 321.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 181 # Segment length 101.979334 meters # Minimum depth: 2852.775439 meters looking forward 50.000000 meters along route # Maximum depth: 2854.722893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2777.775439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855482; longitude = -125.586479; captureRadius = 10; duration = 203; initialDepth = 2778.460784; finalDepth = 2777.775439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2777.775439 # Seafloor depth: -2852.775439 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 181 # Segment length 104.188943 meters # Minimum depth: 2853.460784 meters looking forward 50.000000 meters along route # Maximum depth: 2853.870690 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2778.460784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854903; longitude = -125.585592; captureRadius = 10; duration = 208; initialDepth = 2778.904282; finalDepth = 2778.460784; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0868110000001 # Actual altitude: 75.0868110000001 # Commanded vehicle depth: 2778.460784 # Seafloor depth: -2853.547595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 181 # Segment length 101.793140 meters # Minimum depth: 2853.904282 meters looking forward 50.000000 meters along route # Maximum depth: 2855.414115 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2778.904282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854311; longitude = -125.584685; captureRadius = 10; duration = 203; initialDepth = 2780.232420; finalDepth = 2778.904282; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0868110000001 # Actual altitude: 75.0868110000001 # Commanded vehicle depth: 2778.904282 # Seafloor depth: -2853.904282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 181 # Segment length 104.376832 meters # Minimum depth: 2855.232420 meters looking forward 50.000000 meters along route # Maximum depth: 2855.633922 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.232420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853732; longitude = -125.583800; captureRadius = 10; duration = 208; initialDepth = 2780.569095; finalDepth = 2780.232420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2780.23242 # Seafloor depth: -2855.232420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 181 # Segment length 101.606943 meters # Minimum depth: 2855.569095 meters looking forward 50.000000 meters along route # Maximum depth: 2858.294605 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.569095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853139; longitude = -125.582892; captureRadius = 10; duration = 203; initialDepth = 2772.767910; finalDepth = 2780.569095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2780.569095 # Seafloor depth: -2855.569095 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 181 # Segment length 105.570141 meters # Minimum depth: 2847.767910 meters looking forward 50.000000 meters along route # Maximum depth: 2856.674023 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.767910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852562; longitude = -125.582008; captureRadius = 10; duration = 211; initialDepth = 2775.314636; finalDepth = 2772.767910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 83.906113 # Actual altitude: 83.906113 # Commanded vehicle depth: 2772.76791 # Seafloor depth: -2856.674023 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 335.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.62; 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 180 # Segment length 76.953332 meters # Minimum depth: 2850.314636 meters looking forward 50.000000 meters along route # Maximum depth: 2853.939780 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2775.314636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851962; longitude = -125.581090; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 2780.319404; finalDepth = 2775.314636; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.906113 # Actual altitude: 83.906113 # Commanded vehicle depth: 2775.314636 # Seafloor depth: -2850.314636 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 335.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 103.700502 meters # Minimum depth: 2855.319404 meters looking forward 50.000000 meters along route # Maximum depth: 2863.365773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.319404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851427; longitude = -125.581638; captureRadius = 10; duration = 207; initialDepth = 2780.036008; finalDepth = 2780.319404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2780.319404 # Seafloor depth: -2855.319404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 180 # Segment length 105.243610 meters # Minimum depth: 2855.036008 meters looking forward 50.000000 meters along route # Maximum depth: 2863.465405 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.036008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850706; longitude = -125.582378; captureRadius = 10; duration = 210; initialDepth = 2757.241749; finalDepth = 2780.036008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4293969999999 # Actual altitude: 83.4293969999999 # Commanded vehicle depth: 2780.036008 # Seafloor depth: -2863.465405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 333.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 180 # Segment length 103.180004 meters # Minimum depth: 2832.241749 meters looking forward 50.000000 meters along route # Maximum depth: 2854.723500 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2757.241749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849974; longitude = -125.583128; captureRadius = 10; duration = 206; initialDepth = 2743.970693; finalDepth = 2757.241749; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 97.4817510000003 # Actual altitude: 97.4817510000003 # Commanded vehicle depth: 2757.241749 # Seafloor depth: -2854.723500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 179 # Segment length 111.017164 meters # Minimum depth: 2818.970693 meters looking forward 50.000000 meters along route # Maximum depth: 2831.640442 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2743.970693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849257; longitude = -125.583864; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 2736.168126; finalDepth = 2743.970693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.4817510000003 # Actual altitude: 97.4817510000003 # Commanded vehicle depth: 2743.970693 # Seafloor depth: -2831.640442 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.24; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 179 # Segment length 101.652843 meters # Minimum depth: 2811.168126 meters looking forward 50.000000 meters along route # Maximum depth: 2817.762814 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2736.168126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848273; longitude = -125.584085; captureRadius = 10; duration = 203; initialDepth = 2727.657753; finalDepth = 2736.168126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6697489999997 # Actual altitude: 87.6697489999997 # Commanded vehicle depth: 2736.168126 # Seafloor depth: -2817.762814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 179 # Segment length 108.270274 meters # Minimum depth: 2802.657753 meters looking forward 50.000000 meters along route # Maximum depth: 2809.626780 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2727.657753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847372; longitude = -125.584287; captureRadius = 10; duration = 216; initialDepth = 2724.830414; finalDepth = 2727.657753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.9690270000001 # Actual altitude: 81.9690270000001 # Commanded vehicle depth: 2727.657753 # Seafloor depth: -2809.626780 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 327.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 178 # Segment length 86.186213 meters # Minimum depth: 2799.830414 meters looking forward 50.000000 meters along route # Maximum depth: 2802.350159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2724.830414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846412; longitude = -125.584503; captureRadius = 10; duration = 172; # abortOnTimeout = True; initialDepth = 2725.536932; finalDepth = 2724.830414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9690270000001 # Actual altitude: 81.9690270000001 # Commanded vehicle depth: 2724.830414 # Seafloor depth: -2802.350159 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 327.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 178 # Segment length 103.229174 meters # Minimum depth: 2800.536932 meters looking forward 50.000000 meters along route # Maximum depth: 2819.411087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2725.536932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845659; longitude = -125.584265; captureRadius = 10; duration = 206; initialDepth = 2747.608409; finalDepth = 2725.536932; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.5197450000001 # Actual altitude: 77.5197450000001 # Commanded vehicle depth: 2725.536932 # Seafloor depth: -2800.536932 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 310.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 178 # Segment length 107.909483 meters # Minimum depth: 2822.608409 meters looking forward 50.000000 meters along route # Maximum depth: 2838.996751 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2747.608409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844758; longitude = -125.583979; captureRadius = 10; duration = 215; initialDepth = 2761.996211; finalDepth = 2747.608409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2747.608409 # Seafloor depth: -2822.608409 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 177 # Segment length 87.156642 meters # Minimum depth: 2836.996211 meters looking forward 50.000000 meters along route # Maximum depth: 2839.629150 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2761.996211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843816; longitude = -125.583680; captureRadius = 10; duration = 174; # abortOnTimeout = True; initialDepth = 2749.831889; finalDepth = 2761.996211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6329390000001 # Actual altitude: 77.6329390000001 # Commanded vehicle depth: 2761.996211 # Seafloor depth: -2839.629150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 310.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 177 # Segment length 103.102583 meters # Minimum depth: 2824.831889 meters looking forward 50.000000 meters along route # Maximum depth: 2836.504618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2749.831889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844578; longitude = -125.583444; captureRadius = 10; duration = 206; initialDepth = 2729.516907; finalDepth = 2749.831889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.6727289999999 # Actual altitude: 86.6727289999999 # Commanded vehicle depth: 2749.831889 # Seafloor depth: -2836.504618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 346.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 346.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 346.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 177 # Segment length 103.102510 meters # Minimum depth: 2804.516907 meters looking forward 50.000000 meters along route # Maximum depth: 2822.634624 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2729.516907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845479; longitude = -125.583164; captureRadius = 10; duration = 206; initialDepth = 2729.505314; finalDepth = 2729.516907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.1177169999996 # Actual altitude: 93.1177169999996 # Commanded vehicle depth: 2729.516907 # Seafloor depth: -2822.634624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 177 # Segment length 103.102437 meters # Minimum depth: 2804.505314 meters looking forward 50.000000 meters along route # Maximum depth: 2807.260679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2729.505314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846380; longitude = -125.582884; captureRadius = 10; duration = 206; initialDepth = 2732.410903; finalDepth = 2729.505314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.1177169999996 # Actual altitude: 93.1177169999996 # Commanded vehicle depth: 2729.505314 # Seafloor depth: -2804.505314 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 177 # Segment length 105.270757 meters # Minimum depth: 2807.410903 meters looking forward 50.000000 meters along route # Maximum depth: 2817.244063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2732.410903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847281; longitude = -125.582604; captureRadius = 10; duration = 210; initialDepth = 2745.092712; finalDepth = 2732.410903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2732.410903 # Seafloor depth: -2807.410903 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 176 # Segment length 174.034649 meters # Minimum depth: 2820.092712 meters looking forward 50.000000 meters along route # Maximum depth: 2882.664581 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2745.092712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848202; longitude = -125.582318; captureRadius = 10; duration = 348; # abortOnTimeout = True; initialDepth = 2808.796325; finalDepth = 2745.092712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2745.092712 # Seafloor depth: -2820.092712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 176 # Segment length 106.145644 meters # Minimum depth: 2883.796325 meters looking forward 50.000000 meters along route # Maximum depth: 2893.371953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2808.796325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849534; longitude = -125.581291; captureRadius = 10; duration = 212; initialDepth = 2818.381755; finalDepth = 2808.796325; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2808.796325 # Seafloor depth: -2883.796325 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 176 # Segment length 105.664515 meters # Minimum depth: 2893.381755 meters looking forward 50.000000 meters along route # Maximum depth: 2899.447955 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2818.381755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850347; longitude = -125.580664; captureRadius = 10; duration = 211; initialDepth = 2807.292032; finalDepth = 2818.381755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2818.381755 # Seafloor depth: -2893.381755 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 176 # Segment length 105.904578 meters # Minimum depth: 2882.292032 meters looking forward 50.000000 meters along route # Maximum depth: 2898.064411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2807.292032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851157; longitude = -125.580040; captureRadius = 10; duration = 211; initialDepth = 2780.776940; finalDepth = 2807.292032; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.772379 # Actual altitude: 90.772379 # Commanded vehicle depth: 2807.292032 # Seafloor depth: -2898.064411 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 176 # Segment length 111.496997 meters # Minimum depth: 2855.776940 meters looking forward 50.000000 meters along route # Maximum depth: 2881.611532 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.776940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851968; longitude = -125.579415; captureRadius = 10; duration = 222; initialDepth = 2727.880843; finalDepth = 2780.776940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 100.834592 # Actual altitude: 100 # Commanded vehicle depth: 2780.77694 # Seafloor depth: -2881.611532 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 175 # Segment length 175.316544 meters # Minimum depth: 2802.880843 meters looking forward 50.000000 meters along route # Maximum depth: 2857.670105 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2727.880843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852821; longitude = -125.578757; captureRadius = 10; duration = 350; # abortOnTimeout = True; initialDepth = 2728.006867; finalDepth = 2727.880843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.789262 # Actual altitude: 100 # Commanded vehicle depth: 2727.880843 # Seafloor depth: -2857.670105 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 175 # Segment length 100.043925 meters # Minimum depth: 2803.006867 meters looking forward 50.000000 meters along route # Maximum depth: 2833.838173 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2728.006867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854229; longitude = -125.577864; captureRadius = 10; duration = 200; initialDepth = 2761.456404; finalDepth = 2728.006867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.789262 # Actual altitude: 100 # Commanded vehicle depth: 2728.006867 # Seafloor depth: -2803.006867 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 175 # Segment length 101.050453 meters # Minimum depth: 2836.456404 meters looking forward 50.000000 meters along route # Maximum depth: 2849.509350 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2761.456404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855032; longitude = -125.577355; captureRadius = 10; duration = 202; initialDepth = 2757.421899; finalDepth = 2761.456404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2761.456404 # Seafloor depth: -2836.456404 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 175 # Segment length 101.050216 meters # Minimum depth: 2832.421899 meters looking forward 50.000000 meters along route # Maximum depth: 2848.966796 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2757.421899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855843; longitude = -125.576841; captureRadius = 10; duration = 202; initialDepth = 2752.268017; finalDepth = 2757.421899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5448970000002 # Actual altitude: 91.5448970000002 # Commanded vehicle depth: 2757.421899 # Seafloor depth: -2848.966796 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 175 # Segment length 100.323381 meters # Minimum depth: 2827.268017 meters looking forward 50.000000 meters along route # Maximum depth: 2831.923803 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2752.268017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856654; longitude = -125.576326; captureRadius = 10; duration = 200; initialDepth = 2749.335197; finalDepth = 2752.268017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 91.5448970000002 # Actual altitude: 91.5448970000002 # Commanded vehicle depth: 2752.268017 # Seafloor depth: -2831.923803 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_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 174 # Segment length 79.752097 meters # Minimum depth: 2824.335197 meters looking forward 50.000000 meters along route # Maximum depth: 2826.639709 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2749.335197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857459; longitude = -125.575815; captureRadius = 10; duration = 159; # abortOnTimeout = True; initialDepth = 2750.849436; finalDepth = 2749.335197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6557860000003 # Actual altitude: 79.6557860000003 # Commanded vehicle depth: 2749.335197 # Seafloor depth: -2826.639709 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 174 # Segment length 104.035848 meters # Minimum depth: 2825.849436 meters looking forward 50.000000 meters along route # Maximum depth: 2834.055343 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2750.849436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856834; longitude = -125.575374; captureRadius = 10; duration = 208; initialDepth = 2759.402527; finalDepth = 2750.849436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.3045120000002 # Actual altitude: 77.3045120000002 # Commanded vehicle depth: 2750.849436 # Seafloor depth: -2825.849436 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 173 # Segment length 156.117645 meters # Minimum depth: 2834.402527 meters looking forward 50.000000 meters along route # Maximum depth: 2858.466648 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2759.402527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856019; longitude = -125.574799; captureRadius = 10; duration = 312; # abortOnTimeout = True; initialDepth = 2756.168033; finalDepth = 2759.402527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2759.402527 # Seafloor depth: -2834.402527 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 173 # Segment length 104.625435 meters # Minimum depth: 2831.168033 meters looking forward 50.000000 meters along route # Maximum depth: 2859.395546 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2756.168033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855212; longitude = -125.576233; captureRadius = 10; duration = 209; initialDepth = 2726.032479; finalDepth = 2756.168033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.227513 # Actual altitude: 100 # Commanded vehicle depth: 2756.168033 # Seafloor depth: -2859.395546 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 173 # Segment length 109.667179 meters # Minimum depth: 2801.032479 meters looking forward 50.000000 meters along route # Maximum depth: 2831.132859 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2726.032479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854671; longitude = -125.577193; captureRadius = 10; duration = 219; initialDepth = 2727.085739; finalDepth = 2726.032479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.10038 # Actual altitude: 100 # Commanded vehicle depth: 2726.032479 # Seafloor depth: -2831.132859 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 173 # Segment length 105.478373 meters # Minimum depth: 2802.085739 meters looking forward 50.000000 meters along route # Maximum depth: 2826.706097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2727.085739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854104; longitude = -125.578200; captureRadius = 10; duration = 210; initialDepth = 2750.178955; finalDepth = 2727.085739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 105.10038 # Actual altitude: 100 # Commanded vehicle depth: 2727.085739 # Seafloor depth: -2802.085739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 172 # Segment length 175.417985 meters # Minimum depth: 2825.178955 meters looking forward 50.000000 meters along route # Maximum depth: 2843.898596 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2750.178955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853559; longitude = -125.579169; captureRadius = 10; duration = 350; # abortOnTimeout = True; initialDepth = 2768.917583; finalDepth = 2750.178955; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2750.178955 # Seafloor depth: -2825.178955 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 172 # Segment length 102.841127 meters # Minimum depth: 2843.917583 meters looking forward 50.000000 meters along route # Maximum depth: 2853.447420 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2768.917583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852792; longitude = -125.580888; captureRadius = 10; duration = 205; initialDepth = 2778.871294; finalDepth = 2768.917583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2768.917583 # Seafloor depth: -2843.917583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 172 # Segment length 103.145548 meters # Minimum depth: 2853.871294 meters looking forward 50.000000 meters along route # Maximum depth: 2858.512713 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2778.871294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852342; longitude = -125.581896; captureRadius = 10; duration = 206; initialDepth = 2783.764099; finalDepth = 2778.871294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2778.871294 # Seafloor depth: -2853.871294 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 171 # Segment length 114.311099 meters # Minimum depth: 2858.764099 meters looking forward 50.000000 meters along route # Maximum depth: 2860.568124 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2783.764099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851891; longitude = -125.582907; captureRadius = 10; duration = 228; # abortOnTimeout = True; initialDepth = 2782.453357; finalDepth = 2783.764099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2783.764099 # Seafloor depth: -2858.764099 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 171 # Segment length 100.347370 meters # Minimum depth: 2857.453357 meters looking forward 50.000000 meters along route # Maximum depth: 2859.630117 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2782.453357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851386; longitude = -125.584024; captureRadius = 10; duration = 200; initialDepth = 2747.737009; finalDepth = 2782.453357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.8953340000003 # Actual altitude: 75.8953340000003 # Commanded vehicle depth: 2782.453357 # Seafloor depth: -2858.348691 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 170 # Segment length 159.595030 meters # Minimum depth: 2822.737009 meters looking forward 50.000000 meters along route # Maximum depth: 2860.031921 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2747.737009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850943; longitude = -125.585004; captureRadius = 10; duration = 319; # abortOnTimeout = True; initialDepth = 2725.591084; finalDepth = 2747.737009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 112.294912 # Actual altitude: 100 # Commanded vehicle depth: 2747.737009 # Seafloor depth: -2860.031921 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 169 # Segment length 159.146307 meters # Minimum depth: 2800.591084 meters looking forward 50.000000 meters along route # Maximum depth: 2821.551331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2725.591084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849800; longitude = -125.586089; captureRadius = 10; duration = 318; # abortOnTimeout = True; initialDepth = 2714.345422; finalDepth = 2725.591084; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 112.294912 # Actual altitude: 100 # Commanded vehicle depth: 2725.591084 # Seafloor depth: -2821.551331 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 168 # Segment length 133.545606 meters # Minimum depth: 2789.345422 meters looking forward 50.000000 meters along route # Maximum depth: 2801.973511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2714.345422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848392; longitude = -125.586428; captureRadius = 10; duration = 267; # abortOnTimeout = True; initialDepth = 2712.805519; finalDepth = 2714.345422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.960247 # Actual altitude: 95.960247 # Commanded vehicle depth: 2714.345422 # Seafloor depth: -2801.973511 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.79; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 102.127516 meters # Minimum depth: 2787.805519 meters looking forward 50.000000 meters along route # Maximum depth: 2791.945380 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2712.805519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847191; longitude = -125.586519; captureRadius = 10; duration = 204; initialDepth = 2716.529236; finalDepth = 2712.805519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.6280890000003 # Actual altitude: 87.6280890000003 # Commanded vehicle depth: 2712.805519 # Seafloor depth: -2787.805519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 167 # Segment length 151.259521 meters # Minimum depth: 2791.529236 meters looking forward 50.000000 meters along route # Maximum depth: 2809.085077 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2716.529236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846273; longitude = -125.586589; captureRadius = 10; duration = 302; # abortOnTimeout = True; initialDepth = 2734.694270; finalDepth = 2716.529236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2716.529236 # Seafloor depth: -2791.529236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 104.728396 meters # Minimum depth: 2809.694270 meters looking forward 50.000000 meters along route # Maximum depth: 2812.754943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2734.694270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844938; longitude = -125.586247; captureRadius = 10; duration = 209; initialDepth = 2736.868774; finalDepth = 2734.694270; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2734.69427 # Seafloor depth: -2809.694270 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 166 # Segment length 124.158782 meters # Minimum depth: 2811.868774 meters looking forward 50.000000 meters along route # Maximum depth: 2824.811221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2736.868774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844014; longitude = -125.586010; captureRadius = 10; duration = 248; # abortOnTimeout = True; initialDepth = 2750.022064; finalDepth = 2736.868774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2736.868774 # Seafloor depth: -2811.868774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 107.561739 meters # Minimum depth: 2825.022064 meters looking forward 50.000000 meters along route # Maximum depth: 2833.874351 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2750.022064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843046; longitude = -125.585313; captureRadius = 10; duration = 215; initialDepth = 2756.777013; finalDepth = 2750.022064; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2750.022064 # Seafloor depth: -2825.022064 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 165 # Segment length 147.895889 meters # Minimum depth: 2831.777013 meters looking forward 50.000000 meters along route # Maximum depth: 2834.054504 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2756.777013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842207; longitude = -125.584710; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 2754.737157; finalDepth = 2756.777013; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2774910000003 # Actual altitude: 77.2774910000003 # Commanded vehicle depth: 2756.777013 # Seafloor depth: -2834.054504 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 102.299592 meters # Minimum depth: 2829.737157 meters looking forward 50.000000 meters along route # Maximum depth: 2832.312731 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2754.737157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841334; longitude = -125.585962; captureRadius = 10; duration = 204; initialDepth = 2747.045094; finalDepth = 2754.737157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.2774910000003 # Actual altitude: 77.2774910000003 # Commanded vehicle depth: 2754.737157 # Seafloor depth: -2831.652688 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 164 # Segment length 139.670291 meters # Minimum depth: 2822.045094 meters looking forward 50.000000 meters along route # Maximum depth: 2829.334045 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2747.045094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840730; longitude = -125.586828; captureRadius = 10; duration = 279; # abortOnTimeout = True; initialDepth = 2737.546177; finalDepth = 2747.045094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.288951 # Actual altitude: 82.288951 # Commanded vehicle depth: 2747.045094 # Seafloor depth: -2829.334045 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 329.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 100.083926 meters # Minimum depth: 2812.546177 meters looking forward 50.000000 meters along route # Maximum depth: 2819.775463 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2737.546177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841874; longitude = -125.587478; captureRadius = 10; duration = 200; initialDepth = 2735.250095; finalDepth = 2737.546177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.288951 # Actual altitude: 82.288951 # Commanded vehicle depth: 2737.546177 # Seafloor depth: -2819.775463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 329.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 164 # Segment length 105.223571 meters # Minimum depth: 2810.250095 meters looking forward 50.000000 meters along route # Maximum depth: 2821.769088 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2735.250095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842695; longitude = -125.587944; captureRadius = 10; duration = 210; initialDepth = 2750.084961; finalDepth = 2735.250095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.2292859999998 # Actual altitude: 82.2292859999998 # Commanded vehicle depth: 2735.250095 # Seafloor depth: -2812.428980 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 328.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 163 # Segment length 84.899820 meters # Minimum depth: 2825.084961 meters looking forward 50.000000 meters along route # Maximum depth: 2836.927786 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2750.084961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843557; longitude = -125.588433; captureRadius = 10; duration = 169; # abortOnTimeout = True; initialDepth = 2761.955300; finalDepth = 2750.084961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1788850000003 # Actual altitude: 77.1788850000003 # Commanded vehicle depth: 2750.084961 # Seafloor depth: -2825.084961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 308.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 102.951643 meters # Minimum depth: 2836.955300 meters looking forward 50.000000 meters along route # Maximum depth: 2843.182246 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2761.955300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844308; longitude = -125.588617; captureRadius = 10; duration = 205; initialDepth = 2768.283090; finalDepth = 2761.955300; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2761.9553 # Seafloor depth: -2836.955300 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 163 # Segment length 102.742792 meters # Minimum depth: 2843.283090 meters looking forward 50.000000 meters along route # Maximum depth: 2849.057099 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2768.283090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845218; longitude = -125.588839; captureRadius = 10; duration = 205; initialDepth = 2773.909790; finalDepth = 2768.283090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2768.28309 # Seafloor depth: -2843.283090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 162 # Segment length 98.851631 meters # Minimum depth: 2848.909790 meters looking forward 50.000000 meters along route # Maximum depth: 2851.334893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2773.909790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846126; longitude = -125.589062; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 2757.348548; finalDepth = 2773.909790; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2773.90979 # Seafloor depth: -2848.909790 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 162 # Segment length 100.623789 meters # Minimum depth: 2832.348548 meters looking forward 50.000000 meters along route # Maximum depth: 2848.016200 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2757.348548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847011; longitude = -125.588942; captureRadius = 10; duration = 201; initialDepth = 2761.703245; finalDepth = 2757.348548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6676520000001 # Actual altitude: 90.6676520000001 # Commanded vehicle depth: 2757.348548 # Seafloor depth: -2848.016200 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 162 # Segment length 107.144629 meters # Minimum depth: 2836.703245 meters looking forward 50.000000 meters along route # Maximum depth: 2845.337121 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2761.703245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847912; longitude = -125.588820; captureRadius = 10; duration = 214; initialDepth = 2750.352501; finalDepth = 2761.703245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.6676520000001 # Actual altitude: 90.6676520000001 # Commanded vehicle depth: 2761.703245 # Seafloor depth: -2836.703245 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 161 # Segment length 102.458482 meters # Minimum depth: 2825.352501 meters looking forward 50.000000 meters along route # Maximum depth: 2840.680176 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2750.352501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848872; longitude = -125.588690; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 2750.532930; finalDepth = 2750.352501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.327675 # Actual altitude: 90.327675 # Commanded vehicle depth: 2750.352501 # Seafloor depth: -2840.680176 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 102.892135 meters # Minimum depth: 2825.532930 meters looking forward 50.000000 meters along route # Maximum depth: 2853.825552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2750.532930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849763; longitude = -125.588391; captureRadius = 10; duration = 205; initialDepth = 2780.243225; finalDepth = 2750.532930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.327675 # Actual altitude: 90.327675 # Commanded vehicle depth: 2750.53293 # Seafloor depth: -2825.532930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 160 # Segment length 128.720411 meters # Minimum depth: 2855.243225 meters looking forward 50.000000 meters along route # Maximum depth: 2861.676963 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.243225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850658; longitude = -125.588092; captureRadius = 10; duration = 257; # abortOnTimeout = True; initialDepth = 2783.179880; finalDepth = 2780.243225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2780.243225 # Seafloor depth: -2855.243225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 100.803659 meters # Minimum depth: 2858.179880 meters looking forward 50.000000 meters along route # Maximum depth: 2861.864035 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2783.179880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851517; longitude = -125.587122; captureRadius = 10; duration = 201; initialDepth = 2779.534512; finalDepth = 2783.179880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.6841549999999 # Actual altitude: 78.6841549999999 # Commanded vehicle depth: 2783.17988 # Seafloor depth: -2861.864035 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 159 # Segment length 138.785368 meters # Minimum depth: 2854.534512 meters looking forward 50.000000 meters along route # Maximum depth: 2857.970703 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2779.534512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852189; longitude = -125.586363; captureRadius = 10; duration = 277; # abortOnTimeout = True; initialDepth = 2780.386689; finalDepth = 2779.534512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6841549999999 # Actual altitude: 78.6841549999999 # Commanded vehicle depth: 2779.534512 # Seafloor depth: -2857.970703 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 100.526259 meters # Minimum depth: 2855.386689 meters looking forward 50.000000 meters along route # Maximum depth: 2856.425078 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.386689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852779; longitude = -125.584990; captureRadius = 10; duration = 201; initialDepth = 2780.700772; finalDepth = 2780.386689; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.4361909999998 # Actual altitude: 78.4361909999998 # Commanded vehicle depth: 2780.386689 # Seafloor depth: -2855.386689 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 313.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 158 # Segment length 130.625341 meters # Minimum depth: 2855.700772 meters looking forward 50.000000 meters along route # Maximum depth: 2856.628391 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.700772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853205; longitude = -125.583997; captureRadius = 10; duration = 261; # abortOnTimeout = True; initialDepth = 2780.998242; finalDepth = 2780.700772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1188079999997 # Actual altitude: 75.1188079999997 # Commanded vehicle depth: 2780.700772 # Seafloor depth: -2855.819580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 300.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 158 # Segment length 107.892904 meters # Minimum depth: 2855.998242 meters looking forward 50.000000 meters along route # Maximum depth: 2857.143187 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.998242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853860; longitude = -125.582780; captureRadius = 10; duration = 215; initialDepth = 2782.191834; finalDepth = 2780.998242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6510109999999 # Actual altitude: 75.6510109999999 # Commanded vehicle depth: 2780.998242 # Seafloor depth: -2856.649253 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 158 # Segment length 104.380304 meters # Minimum depth: 2857.191834 meters looking forward 50.000000 meters along route # Maximum depth: 2858.295363 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2782.191834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854401; longitude = -125.581775; captureRadius = 10; duration = 208; initialDepth = 2766.120737; finalDepth = 2782.191834; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.6510109999999 # Actual altitude: 75.6510109999999 # Commanded vehicle depth: 2782.191834 # Seafloor depth: -2857.191834 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 157 # Segment length 121.310623 meters # Minimum depth: 2841.120737 meters looking forward 50.000000 meters along route # Maximum depth: 2857.148499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2766.120737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854924; longitude = -125.580802; captureRadius = 10; duration = 242; # abortOnTimeout = True; initialDepth = 2753.516598; finalDepth = 2766.120737; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.0277619999997 # Actual altitude: 91.0277619999997 # Commanded vehicle depth: 2766.120737 # Seafloor depth: -2857.148499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 104.956905 meters # Minimum depth: 2828.516598 meters looking forward 50.000000 meters along route # Maximum depth: 2839.822013 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2753.516598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855572; longitude = -125.579708; captureRadius = 10; duration = 209; initialDepth = 2753.189776; finalDepth = 2753.516598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.0277619999997 # Actual altitude: 91.0277619999997 # Commanded vehicle depth: 2753.516598 # Seafloor depth: -2839.822013 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 157 # Segment length 106.057653 meters # Minimum depth: 2828.189776 meters looking forward 50.000000 meters along route # Maximum depth: 2830.399791 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2753.189776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856133; longitude = -125.578760; captureRadius = 10; duration = 212; initialDepth = 2755.538574; finalDepth = 2753.189776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 86.3054149999998 # Actual altitude: 86.3054149999998 # Commanded vehicle depth: 2753.189776 # Seafloor depth: -2828.189776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 345.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 345.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.22; 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 156 # Segment length 108.048677 meters # Minimum depth: 2830.538574 meters looking forward 50.000000 meters along route # Maximum depth: 2835.137518 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2755.538574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856700; longitude = -125.577803; captureRadius = 10; duration = 216; # abortOnTimeout = True; initialDepth = 2760.349487; finalDepth = 2755.538574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2755.538574 # Seafloor depth: -2830.538574 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 156 # Segment length 111.523022 meters # Minimum depth: 2835.349487 meters looking forward 50.000000 meters along route # Maximum depth: 2841.286683 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2760.349487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857465; longitude = -125.578553; captureRadius = 10; duration = 223; initialDepth = 2764.286499; finalDepth = 2760.349487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2760.349487 # Seafloor depth: -2835.349487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 155 # Segment length 116.165184 meters # Minimum depth: 2839.286499 meters looking forward 50.000000 meters along route # Maximum depth: 2845.555872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2764.286499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858254; longitude = -125.579327; captureRadius = 10; duration = 232; # abortOnTimeout = True; initialDepth = 2772.206528; finalDepth = 2764.286499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2764.286499 # Seafloor depth: -2839.286499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 155 # Segment length 103.927350 meters # Minimum depth: 2847.206528 meters looking forward 50.000000 meters along route # Maximum depth: 2850.351826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.206528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857585; longitude = -125.580328; captureRadius = 10; duration = 207; initialDepth = 2772.236263; finalDepth = 2772.206528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2772.206528 # Seafloor depth: -2847.206528 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 155 # Segment length 109.350952 meters # Minimum depth: 2847.236263 meters looking forward 50.000000 meters along route # Maximum depth: 2849.633768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.236263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856986; longitude = -125.581224; captureRadius = 10; duration = 218; initialDepth = 2771.979675; finalDepth = 2772.236263; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.812363 # Actual altitude: 76.812363 # Commanded vehicle depth: 2772.236263 # Seafloor depth: -2849.048626 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 154 # Segment length 150.131914 meters # Minimum depth: 2846.979675 meters looking forward 50.000000 meters along route # Maximum depth: 2855.338004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2771.979675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856356; longitude = -125.582167; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 2778.806778; finalDepth = 2771.979675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.812363 # Actual altitude: 76.812363 # Commanded vehicle depth: 2771.979675 # Seafloor depth: -2846.979675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 101.075905 meters # Minimum depth: 2853.806778 meters looking forward 50.000000 meters along route # Maximum depth: 2855.259567 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2778.806778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855662; longitude = -125.583611; captureRadius = 10; duration = 202; initialDepth = 2778.513579; finalDepth = 2778.806778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4527889999999 # Actual altitude: 76.4527889999999 # Commanded vehicle depth: 2778.806778 # Seafloor depth: -2855.259567 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 154 # Segment length 101.221313 meters # Minimum depth: 2853.513579 meters looking forward 50.000000 meters along route # Maximum depth: 2854.273944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2778.513579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855195; longitude = -125.584584; captureRadius = 10; duration = 202; initialDepth = 2777.940613; finalDepth = 2778.513579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.4527889999999 # Actual altitude: 76.4527889999999 # Commanded vehicle depth: 2778.513579 # Seafloor depth: -2853.745133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 153 # Segment length 154.768273 meters # Minimum depth: 2852.940613 meters looking forward 50.000000 meters along route # Maximum depth: 2854.379639 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2777.940613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854727; longitude = -125.585558; captureRadius = 10; duration = 309; # abortOnTimeout = True; initialDepth = 2775.530599; finalDepth = 2777.940613; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.439026 # Actual altitude: 76.439026 # Commanded vehicle depth: 2777.940613 # Seafloor depth: -2854.379639 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 106.450779 meters # Minimum depth: 2850.530599 meters looking forward 50.000000 meters along route # Maximum depth: 2852.893307 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2775.530599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854013; longitude = -125.587048; captureRadius = 10; duration = 212; initialDepth = 2775.087891; finalDepth = 2775.530599; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.3627079999997 # Actual altitude: 77.3627079999997 # Commanded vehicle depth: 2775.530599 # Seafloor depth: -2852.893307 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 152 # Segment length 98.664473 meters # Minimum depth: 2850.087891 meters looking forward 50.000000 meters along route # Maximum depth: 2854.108909 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2775.087891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853521; longitude = -125.588072; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 2780.151335; finalDepth = 2775.087891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.3627079999997 # Actual altitude: 77.3627079999997 # Commanded vehicle depth: 2775.087891 # Seafloor depth: -2850.087891 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 309.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 100.829574 meters # Minimum depth: 2855.151335 meters looking forward 50.000000 meters along route # Maximum depth: 2857.110281 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2780.151335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852881; longitude = -125.588839; captureRadius = 10; duration = 201; initialDepth = 2781.082694; finalDepth = 2780.151335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2780.151335 # Seafloor depth: -2855.151335 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 152 # Segment length 100.782606 meters # Minimum depth: 2856.082694 meters looking forward 50.000000 meters along route # Maximum depth: 2858.314965 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2781.082694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852226; longitude = -125.589623; captureRadius = 10; duration = 201; initialDepth = 2778.267981; finalDepth = 2781.082694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2781.082694 # Seafloor depth: -2856.082694 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 151 # Segment length 160.207817 meters # Minimum depth: 2853.267981 meters looking forward 50.000000 meters along route # Maximum depth: 2857.629883 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2778.267981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851572; longitude = -125.590407; captureRadius = 10; duration = 320; # abortOnTimeout = True; initialDepth = 2773.193228; finalDepth = 2778.267981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.3619020000001 # Actual altitude: 79.3619020000001 # Commanded vehicle depth: 2778.267981 # Seafloor depth: -2857.629883 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.81; MB_Bottom_Detect_Filter_Max_Range = 317.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 151 # Segment length 103.554012 meters # Minimum depth: 2848.193228 meters looking forward 50.000000 meters along route # Maximum depth: 2852.790269 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2773.193228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850165; longitude = -125.590806; captureRadius = 10; duration = 207; initialDepth = 2772.591615; finalDepth = 2773.193228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.597041 # Actual altitude: 79.597041 # Commanded vehicle depth: 2773.193228 # Seafloor depth: -2852.790269 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.88; MB_Bottom_Detect_Filter_Max_Range = 318.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 150 # Segment length 149.845536 meters # Minimum depth: 2847.591615 meters looking forward 50.000000 meters along route # Maximum depth: 2848.452664 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2772.591615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849256; longitude = -125.591064; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 2769.469183; finalDepth = 2772.591615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.597041 # Actual altitude: 79.597041 # Commanded vehicle depth: 2772.591615 # Seafloor depth: -2848.220093 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.88; MB_Bottom_Detect_Filter_Max_Range = 318.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 150 # Segment length 100.519499 meters # Minimum depth: 2844.469183 meters looking forward 50.000000 meters along route # Maximum depth: 2847.738107 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2769.469183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847912; longitude = -125.591229; captureRadius = 10; duration = 201; initialDepth = 2768.970116; finalDepth = 2769.469183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.268924 # Actual altitude: 78.268924 # Commanded vehicle depth: 2769.469183 # Seafloor depth: -2847.738107 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 313.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 150 # Segment length 108.049973 meters # Minimum depth: 2843.970116 meters looking forward 50.000000 meters along route # Maximum depth: 2845.606447 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2768.970116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847011; longitude = -125.591340; captureRadius = 10; duration = 216; initialDepth = 2770.180886; finalDepth = 2768.970116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.268924 # Actual altitude: 78.268924 # Commanded vehicle depth: 2768.970116 # Seafloor depth: -2843.970116 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 313.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 149 # Segment length 104.467494 meters # Minimum depth: 2845.180886 meters looking forward 50.000000 meters along route # Maximum depth: 2845.666440 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2770.180886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846042; longitude = -125.591459; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2770.661964; finalDepth = 2770.180886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1599339999998 # Actual altitude: 75.1599339999998 # Commanded vehicle depth: 2770.180886 # Seafloor depth: -2845.340820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 149 # Segment length 101.911125 meters # Minimum depth: 2845.661964 meters looking forward 50.000000 meters along route # Maximum depth: 2846.302600 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2770.661964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845119; longitude = -125.591235; captureRadius = 10; duration = 203; initialDepth = 2771.428234; finalDepth = 2770.661964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1599339999998 # Actual altitude: 75.1599339999998 # Commanded vehicle depth: 2770.661964 # Seafloor depth: -2845.661964 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 149 # Segment length 108.620413 meters # Minimum depth: 2846.428234 meters looking forward 50.000000 meters along route # Maximum depth: 2847.205199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2771.428234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844217; longitude = -125.591017; captureRadius = 10; duration = 217; initialDepth = 2771.682983; finalDepth = 2771.428234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2771.428234 # Seafloor depth: -2846.428234 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 148 # Segment length 102.550599 meters # Minimum depth: 2846.682983 meters looking forward 50.000000 meters along route # Maximum depth: 2847.515533 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2771.682983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843257; longitude = -125.590784; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 2738.102644; finalDepth = 2771.682983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2771.682983 # Seafloor depth: -2846.682983 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 148 # Segment length 100.397764 meters # Minimum depth: 2813.102644 meters looking forward 50.000000 meters along route # Maximum depth: 2846.441294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2738.102644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842415; longitude = -125.590311; captureRadius = 10; duration = 200; initialDepth = 2724.375551; finalDepth = 2738.102644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.33865 # Actual altitude: 100 # Commanded vehicle depth: 2738.102644 # Seafloor depth: -2846.441294 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 148 # Segment length 100.329945 meters # Minimum depth: 2799.375551 meters looking forward 50.000000 meters along route # Maximum depth: 2812.586562 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2724.375551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841591; longitude = -125.589847; captureRadius = 10; duration = 200; initialDepth = 2720.778524; finalDepth = 2724.375551; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 108.33865 # Actual altitude: 100 # Commanded vehicle depth: 2724.375551 # Seafloor depth: -2812.586562 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 147 # Segment length 135.721428 meters # Minimum depth: 2795.778524 meters looking forward 50.000000 meters along route # Maximum depth: 2801.091866 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2720.778524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840767; longitude = -125.589384; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 2722.310139; finalDepth = 2720.778524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.2110109999999 # Actual altitude: 88.2110109999999 # Commanded vehicle depth: 2720.778524 # Seafloor depth: -2798.412964 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 101.331093 meters # Minimum depth: 2797.310139 meters looking forward 50.000000 meters along route # Maximum depth: 2801.596025 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2722.310139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839802; longitude = -125.588451; captureRadius = 10; duration = 202; initialDepth = 2715.651509; finalDepth = 2722.310139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2858859999997 # Actual altitude: 79.2858859999997 # Commanded vehicle depth: 2722.310139 # Seafloor depth: -2801.596025 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 317.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 147 # Segment length 101.297170 meters # Minimum depth: 2790.651509 meters looking forward 50.000000 meters along route # Maximum depth: 2795.922603 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2715.651509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839081; longitude = -125.587754; captureRadius = 10; duration = 202; initialDepth = 2709.421727; finalDepth = 2715.651509; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.2710940000002 # Actual altitude: 80.2710940000002 # Commanded vehicle depth: 2715.651509 # Seafloor depth: -2795.922603 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 321.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 146 # Segment length 141.806704 meters # Minimum depth: 2784.421727 meters looking forward 50.000000 meters along route # Maximum depth: 2790.857727 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2709.421727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838360; longitude = -125.587058; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 2709.285605; finalDepth = 2709.421727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4360000000001 # Actual altitude: 81.4360000000001 # Commanded vehicle depth: 2709.421727 # Seafloor depth: -2790.857727 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 325.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 103.991239 meters # Minimum depth: 2784.285605 meters looking forward 50.000000 meters along route # Maximum depth: 2786.680146 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2709.285605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837098; longitude = -125.587306; captureRadius = 10; duration = 207; initialDepth = 2705.667969; finalDepth = 2709.285605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 81.4360000000001 # Actual altitude: 81.4360000000001 # Commanded vehicle depth: 2709.285605 # Seafloor depth: -2784.285605 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 325.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 145 # Segment length 166.766377 meters # Minimum depth: 2780.667969 meters looking forward 50.000000 meters along route # Maximum depth: 2786.757446 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2705.667969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836173; longitude = -125.587487; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 2706.560008; finalDepth = 2705.667969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.089477 # Actual altitude: 81.089477 # Commanded vehicle depth: 2705.667969 # Seafloor depth: -2786.757446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 324.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 112.598264 meters # Minimum depth: 2781.560008 meters looking forward 50.000000 meters along route # Maximum depth: 2782.370540 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2706.560008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837107; longitude = -125.588951; captureRadius = 10; duration = 225; initialDepth = 2707.558472; finalDepth = 2706.560008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.089477 # Actual altitude: 81.089477 # Commanded vehicle depth: 2706.560008 # Seafloor depth: -2781.560008 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 324.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 92.998423 meters # Minimum depth: 2782.558472 meters looking forward 50.000000 meters along route # Maximum depth: 2784.653742 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2707.558472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837737; longitude = -125.589940; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 2709.561979; finalDepth = 2707.558472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2707.558472 # Seafloor depth: -2782.558472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 100.365087 meters # Minimum depth: 2784.561979 meters looking forward 50.000000 meters along route # Maximum depth: 2786.153262 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2709.561979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838450; longitude = -125.590488; captureRadius = 10; duration = 200; initialDepth = 2707.767141; finalDepth = 2709.561979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2709.561979 # Seafloor depth: -2784.561979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 144 # Segment length 102.111607 meters # Minimum depth: 2782.767141 meters looking forward 50.000000 meters along route # Maximum depth: 2786.230848 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2707.767141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839219; longitude = -125.591079; captureRadius = 10; duration = 204; initialDepth = 2711.609985; finalDepth = 2707.767141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.4637070000003 # Actual altitude: 78.4637070000003 # Commanded vehicle depth: 2707.767141 # Seafloor depth: -2786.230848 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 143 # Segment length 129.457809 meters # Minimum depth: 2786.609985 meters looking forward 50.000000 meters along route # Maximum depth: 2791.794741 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2711.609985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840002; longitude = -125.591681; captureRadius = 10; duration = 258; # abortOnTimeout = True; initialDepth = 2717.132665; finalDepth = 2711.609985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4637070000003 # Actual altitude: 78.4637070000003 # Commanded vehicle depth: 2711.609985 # Seafloor depth: -2786.609985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 102.998469 meters # Minimum depth: 2792.132665 meters looking forward 50.000000 meters along route # Maximum depth: 2796.486870 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2717.132665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841063; longitude = -125.592281; captureRadius = 10; duration = 205; initialDepth = 2709.117761; finalDepth = 2717.132665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2717.132665 # Seafloor depth: -2792.132665 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 104.817296 meters # Minimum depth: 2784.117761 meters looking forward 50.000000 meters along route # Maximum depth: 2796.406583 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2709.117761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841908; longitude = -125.592759; captureRadius = 10; duration = 209; initialDepth = 2708.269348; finalDepth = 2709.117761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.288822 # Actual altitude: 87.288822 # Commanded vehicle depth: 2709.117761 # Seafloor depth: -2796.406583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 349.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 349.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 142 # Segment length 82.614112 meters # Minimum depth: 2783.269348 meters looking forward 50.000000 meters along route # Maximum depth: 2784.098245 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2708.269348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842768; longitude = -125.593245; captureRadius = 10; duration = 165; # abortOnTimeout = True; initialDepth = 2708.725679; finalDepth = 2708.269348; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.288822 # Actual altitude: 87.288822 # Commanded vehicle depth: 2708.269348 # Seafloor depth: -2783.269348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 349.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 349.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 102.148550 meters # Minimum depth: 2783.725679 meters looking forward 50.000000 meters along route # Maximum depth: 2792.668438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2708.725679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843497; longitude = -125.593433; captureRadius = 10; duration = 204; initialDepth = 2718.095823; finalDepth = 2708.725679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2708.725679 # Seafloor depth: -2783.725679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 102.148527 meters # Minimum depth: 2793.095823 meters looking forward 50.000000 meters along route # Maximum depth: 2803.827744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2718.095823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844398; longitude = -125.593664; captureRadius = 10; duration = 204; initialDepth = 2722.594341; finalDepth = 2718.095823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2718.095823 # Seafloor depth: -2793.095823 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 105.870605 meters # Minimum depth: 2797.594341 meters looking forward 50.000000 meters along route # Maximum depth: 2804.118291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2722.594341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845299; longitude = -125.593896; captureRadius = 10; duration = 211; initialDepth = 2720.423035; finalDepth = 2722.594341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.5239500000002 # Actual altitude: 81.5239500000002 # Commanded vehicle depth: 2722.594341 # Seafloor depth: -2804.118291 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 141 # Segment length 97.690738 meters # Minimum depth: 2795.423035 meters looking forward 50.000000 meters along route # Maximum depth: 2802.849657 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2720.423035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846233; longitude = -125.594137; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 2728.729740; finalDepth = 2720.423035; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5239500000002 # Actual altitude: 81.5239500000002 # Commanded vehicle depth: 2720.423035 # Seafloor depth: -2795.423035 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 101.384994 meters # Minimum depth: 2803.729740 meters looking forward 50.000000 meters along route # Maximum depth: 2817.710177 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2728.729740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847101; longitude = -125.593958; captureRadius = 10; duration = 202; initialDepth = 2743.977076; finalDepth = 2728.729740; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2728.72974 # Seafloor depth: -2803.729740 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 101.384966 meters # Minimum depth: 2818.977076 meters looking forward 50.000000 meters along route # Maximum depth: 2830.183959 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2743.977076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848002; longitude = -125.593773; captureRadius = 10; duration = 202; initialDepth = 2738.063077; finalDepth = 2743.977076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2743.977076 # Seafloor depth: -2818.977076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 100.370987 meters # Minimum depth: 2813.063077 meters looking forward 50.000000 meters along route # Maximum depth: 2830.448058 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2738.063077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848904; longitude = -125.593588; captureRadius = 10; duration = 200; initialDepth = 2721.760857; finalDepth = 2738.063077; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 92.3849810000002 # Actual altitude: 92.3849810000002 # Commanded vehicle depth: 2738.063077 # Seafloor depth: -2830.448058 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 140 # Segment length 114.132979 meters # Minimum depth: 2796.760857 meters looking forward 50.000000 meters along route # Maximum depth: 2812.366272 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2721.760857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849796; longitude = -125.593405; captureRadius = 10; duration = 228; # abortOnTimeout = True; initialDepth = 2724.331487; finalDepth = 2721.760857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.3849810000002 # Actual altitude: 92.3849810000002 # Commanded vehicle depth: 2721.760857 # Seafloor depth: -2812.366272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 102.822342 meters # Minimum depth: 2799.331487 meters looking forward 50.000000 meters along route # Maximum depth: 2819.552047 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2724.331487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850796; longitude = -125.593109; captureRadius = 10; duration = 205; initialDepth = 2745.216040; finalDepth = 2724.331487; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.605415 # Actual altitude: 90.605415 # Commanded vehicle depth: 2724.331487 # Seafloor depth: -2799.331487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 140 # Segment length 104.615674 meters # Minimum depth: 2820.216040 meters looking forward 50.000000 meters along route # Maximum depth: 2828.863427 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2745.216040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851697; longitude = -125.592843; captureRadius = 10; duration = 209; initialDepth = 2754.048401; finalDepth = 2745.216040; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2745.21604 # Seafloor depth: -2820.216040 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 84.361340 meters # Minimum depth: 2829.048401 meters looking forward 50.000000 meters along route # Maximum depth: 2833.503914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2754.048401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852614; longitude = -125.592571; captureRadius = 10; duration = 168; # abortOnTimeout = True; initialDepth = 2758.481165; finalDepth = 2754.048401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2754.048401 # Seafloor depth: -2829.048401 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 101.367862 meters # Minimum depth: 2833.481165 meters looking forward 50.000000 meters along route # Maximum depth: 2834.729702 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2758.481165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853139; longitude = -125.591888; captureRadius = 10; duration = 202; initialDepth = 2759.768252; finalDepth = 2758.481165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2758.481165 # Seafloor depth: -2833.481165 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 101.367387 meters # Minimum depth: 2834.768252 meters looking forward 50.000000 meters along route # Maximum depth: 2838.618545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2759.768252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853770; longitude = -125.591066; captureRadius = 10; duration = 202; initialDepth = 2763.425711; finalDepth = 2759.768252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2759.768252 # Seafloor depth: -2834.768252 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 103.982214 meters # Minimum depth: 2838.425711 meters looking forward 50.000000 meters along route # Maximum depth: 2840.294294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2763.425711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854401; longitude = -125.590244; captureRadius = 10; duration = 207; initialDepth = 2765.193481; finalDepth = 2763.425711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.3337120000001 # Actual altitude: 75.3337120000001 # Commanded vehicle depth: 2763.425711 # Seafloor depth: -2838.759423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 301.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 138 # Segment length 78.199247 meters # Minimum depth: 2840.193481 meters looking forward 50.000000 meters along route # Maximum depth: 2844.060307 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2765.193481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855048; longitude = -125.589401; captureRadius = 10; duration = 156; # abortOnTimeout = True; initialDepth = 2769.674984; finalDepth = 2765.193481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3337120000001 # Actual altitude: 75.3337120000001 # Commanded vehicle depth: 2765.193481 # Seafloor depth: -2840.193481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 301.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 100.271725 meters # Minimum depth: 2844.674984 meters looking forward 50.000000 meters along route # Maximum depth: 2846.478355 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2769.674984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855360; longitude = -125.588615; captureRadius = 10; duration = 200; initialDepth = 2766.147668; finalDepth = 2769.674984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2769.674984 # Seafloor depth: -2844.674984 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 138 # Segment length 110.395503 meters # Minimum depth: 2841.147668 meters looking forward 50.000000 meters along route # Maximum depth: 2846.154097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2766.147668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855760; longitude = -125.587608; captureRadius = 10; duration = 220; initialDepth = 2718.543227; finalDepth = 2766.147668; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.006429 # Actual altitude: 80.006429 # Commanded vehicle depth: 2766.147668 # Seafloor depth: -2846.154097 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 320.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 137 # Segment length 137.005474 meters # Minimum depth: 2793.543227 meters looking forward 50.000000 meters along route # Maximum depth: 2840.718628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2718.543227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856200; longitude = -125.586498; captureRadius = 10; duration = 274; # abortOnTimeout = True; initialDepth = 2716.773483; finalDepth = 2718.543227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.175401 # Actual altitude: 100 # Commanded vehicle depth: 2718.543227 # Seafloor depth: -2840.718628 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 137 # Segment length 101.655224 meters # Minimum depth: 2791.773483 meters looking forward 50.000000 meters along route # Maximum depth: 2797.288036 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2716.773483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856926; longitude = -125.585256; captureRadius = 10; duration = 203; initialDepth = 2722.901540; finalDepth = 2716.773483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.175401 # Actual altitude: 100 # Commanded vehicle depth: 2716.773483 # Seafloor depth: -2793.481870 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 137 # Segment length 108.950089 meters # Minimum depth: 2797.901540 meters looking forward 50.000000 meters along route # Maximum depth: 2822.312912 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2722.901540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857465; longitude = -125.584334; captureRadius = 10; duration = 217; initialDepth = 2748.599670; finalDepth = 2722.901540; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7083870000001 # Actual altitude: 76.7083870000001 # Commanded vehicle depth: 2722.90154 # Seafloor depth: -2797.901540 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 165.602354 meters # Minimum depth: 2823.599670 meters looking forward 50.000000 meters along route # Maximum depth: 2827.137024 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2748.599670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858042; longitude = -125.583346; captureRadius = 10; duration = 331; # abortOnTimeout = True; initialDepth = 2740.067407; finalDepth = 2748.599670; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2748.59967 # Seafloor depth: -2823.599670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 102.299597 meters # Minimum depth: 2815.067407 meters looking forward 50.000000 meters along route # Maximum depth: 2827.360224 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2740.067407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858973; longitude = -125.581896; captureRadius = 10; duration = 204; initialDepth = 2734.208597; finalDepth = 2740.067407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.292817 # Actual altitude: 87.292817 # Commanded vehicle depth: 2740.067407 # Seafloor depth: -2827.360224 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 349.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 349.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 136 # Segment length 104.265898 meters # Minimum depth: 2809.208597 meters looking forward 50.000000 meters along route # Maximum depth: 2814.921733 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2734.208597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859549; longitude = -125.581000; captureRadius = 10; duration = 208; initialDepth = 2735.870605; finalDepth = 2734.208597; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.292817 # Actual altitude: 87.292817 # Commanded vehicle depth: 2734.208597 # Seafloor depth: -2814.921733 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 349.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 349.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 349.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 135 # Segment length 113.208607 meters # Minimum depth: 2810.870605 meters looking forward 50.000000 meters along route # Maximum depth: 2838.772538 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2735.870605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860135; longitude = -125.580087; captureRadius = 10; duration = 226; # abortOnTimeout = True; initialDepth = 2758.795664; finalDepth = 2735.870605; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.7131360000003 # Actual altitude: 80.7131360000003 # Commanded vehicle depth: 2735.870605 # Seafloor depth: -2810.870605 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 322.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 104.897752 meters # Minimum depth: 2833.795664 meters looking forward 50.000000 meters along route # Maximum depth: 2838.798109 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2758.795664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859357; longitude = -125.579266; captureRadius = 10; duration = 209; initialDepth = 2760.515902; finalDepth = 2758.795664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0024449999996 # Actual altitude: 80.0024449999996 # Commanded vehicle depth: 2758.795664 # Seafloor depth: -2838.798109 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 320.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 104.898117 meters # Minimum depth: 2835.515902 meters looking forward 50.000000 meters along route # Maximum depth: 2837.819860 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2760.515902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858636; longitude = -125.578506; captureRadius = 10; duration = 209; initialDepth = 2754.756272; finalDepth = 2760.515902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0024449999996 # Actual altitude: 80.0024449999996 # Commanded vehicle depth: 2760.515902 # Seafloor depth: -2836.334459 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 320.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 101.861291 meters # Minimum depth: 2829.756272 meters looking forward 50.000000 meters along route # Maximum depth: 2835.451180 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2754.756272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857915; longitude = -125.577746; captureRadius = 10; duration = 203; initialDepth = 2754.516235; finalDepth = 2754.756272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.6949079999999 # Actual altitude: 80.6949079999999 # Commanded vehicle depth: 2754.756272 # Seafloor depth: -2835.451180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 322.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 134 # Segment length 139.687892 meters # Minimum depth: 2829.516235 meters looking forward 50.000000 meters along route # Maximum depth: 2839.545171 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2754.516235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857215; longitude = -125.577008; captureRadius = 10; duration = 279; # abortOnTimeout = True; initialDepth = 2759.377163; finalDepth = 2754.516235; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.6949079999999 # Actual altitude: 80.6949079999999 # Commanded vehicle depth: 2754.516235 # Seafloor depth: -2829.516235 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 322.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 101.187472 meters # Minimum depth: 2834.377163 meters looking forward 50.000000 meters along route # Maximum depth: 2845.791943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2759.377163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856113; longitude = -125.576252; captureRadius = 10; duration = 202; initialDepth = 2760.309848; finalDepth = 2759.377163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.0005799999999 # Actual altitude: 81.0005799999999 # Commanded vehicle depth: 2759.377163 # Seafloor depth: -2840.377743 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 324.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.00; 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 133 # Segment length 112.239346 meters # Minimum depth: 2835.309848 meters looking forward 50.000000 meters along route # Maximum depth: 2846.629150 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2760.309848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855314; longitude = -125.575705; captureRadius = 10; duration = 224; # abortOnTimeout = True; initialDepth = 2761.236514; finalDepth = 2760.309848; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.3193020000003 # Actual altitude: 86.3193020000003 # Commanded vehicle depth: 2760.309848 # Seafloor depth: -2846.629150 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 345.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 345.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 104.050899 meters # Minimum depth: 2836.236514 meters looking forward 50.000000 meters along route # Maximum depth: 2856.408462 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2761.236514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855822; longitude = -125.574617; captureRadius = 10; duration = 208; initialDepth = 2760.772617; finalDepth = 2761.236514; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 86.3193020000003 # Actual altitude: 86.3193020000003 # Commanded vehicle depth: 2761.236514 # Seafloor depth: -2836.236514 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 345.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 345.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 132 # Segment length 113.821494 meters # Minimum depth: 2835.772617 meters looking forward 50.000000 meters along route # Maximum depth: 2856.273438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2760.772617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856293; longitude = -125.573608; captureRadius = 10; duration = 227; # abortOnTimeout = True; initialDepth = 2748.669454; finalDepth = 2760.772617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.5008210000001 # Actual altitude: 95.5008210000001 # Commanded vehicle depth: 2760.772617 # Seafloor depth: -2856.273438 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.65; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 106.968177 meters # Minimum depth: 2823.669454 meters looking forward 50.000000 meters along route # Maximum depth: 2834.285472 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2748.669454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857194; longitude = -125.574217; captureRadius = 10; duration = 213; initialDepth = 2732.825836; finalDepth = 2748.669454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 95.5008210000001 # Actual altitude: 95.5008210000001 # Commanded vehicle depth: 2748.669454 # Seafloor depth: -2834.285472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.65; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 131 # Segment length 160.674433 meters # Minimum depth: 2807.825836 meters looking forward 50.000000 meters along route # Maximum depth: 2823.460571 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2732.825836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858041; longitude = -125.574790; captureRadius = 10; duration = 321; # abortOnTimeout = True; initialDepth = 2732.246428; finalDepth = 2732.825836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6347350000001 # Actual altitude: 90.6347350000001 # Commanded vehicle depth: 2732.825836 # Seafloor depth: -2823.460571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 104.499207 meters # Minimum depth: 2807.246428 meters looking forward 50.000000 meters along route # Maximum depth: 2813.005245 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2732.246428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859177; longitude = -125.575906; captureRadius = 10; duration = 208; initialDepth = 2731.793845; finalDepth = 2732.246428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6347350000001 # Actual altitude: 90.6347350000001 # Commanded vehicle depth: 2732.246428 # Seafloor depth: -2807.246428 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 131 # Segment length 109.754176 meters # Minimum depth: 2806.793845 meters looking forward 50.000000 meters along route # Maximum depth: 2820.334087 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2731.793845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859916; longitude = -125.576633; captureRadius = 10; duration = 219; initialDepth = 2740.440439; finalDepth = 2731.793845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.4521070000001 # Actual altitude: 79.4521070000001 # Commanded vehicle depth: 2731.793845 # Seafloor depth: -2811.245952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.84; MB_Bottom_Detect_Filter_Max_Range = 317.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 159.604527 meters # Minimum depth: 2815.440439 meters looking forward 50.000000 meters along route # Maximum depth: 2821.062317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2740.440439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860691; longitude = -125.577395; captureRadius = 10; duration = 319; # abortOnTimeout = True; initialDepth = 2739.437824; finalDepth = 2740.440439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.6218779999999 # Actual altitude: 80.6218779999999 # Commanded vehicle depth: 2740.440439 # Seafloor depth: -2821.062317 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 102.161484 meters # Minimum depth: 2814.437824 meters looking forward 50.000000 meters along route # Maximum depth: 2815.386152 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2739.437824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861610; longitude = -125.578772; captureRadius = 10; duration = 204; initialDepth = 2738.117697; finalDepth = 2739.437824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.6218779999999 # Actual altitude: 80.6218779999999 # Commanded vehicle depth: 2739.437824 # Seafloor depth: -2815.386152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 129.963907 meters # Minimum depth: 2813.117697 meters looking forward 50.000000 meters along route # Maximum depth: 2814.913993 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2738.117697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862198; longitude = -125.579653; captureRadius = 10; duration = 259; # abortOnTimeout = True; initialDepth = 2717.540341; finalDepth = 2738.117697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9483279999999 # Actual altitude: 75.9483279999999 # Commanded vehicle depth: 2738.117697 # Seafloor depth: -2813.945374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 303.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 102.783070 meters # Minimum depth: 2792.540341 meters looking forward 50.000000 meters along route # Maximum depth: 2812.571771 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2717.540341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861752; longitude = -125.581000; captureRadius = 10; duration = 205; initialDepth = 2713.001479; finalDepth = 2717.540341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 95.03143 # Actual altitude: 95.03143 # Commanded vehicle depth: 2717.540341 # Seafloor depth: -2812.571771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.51; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 128 # Segment length 149.529121 meters # Minimum depth: 2788.001479 meters looking forward 50.000000 meters along route # Maximum depth: 2791.444519 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2713.001479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861399; longitude = -125.582066; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 2712.712972; finalDepth = 2713.001479; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.03143 # Actual altitude: 95.03143 # Commanded vehicle depth: 2713.001479 # Seafloor depth: -2791.444519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.51; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 106.323496 meters # Minimum depth: 2787.712972 meters looking forward 50.000000 meters along route # Maximum depth: 2789.671229 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2712.712972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860258; longitude = -125.582957; captureRadius = 10; duration = 212; initialDepth = 2714.934449; finalDepth = 2712.712972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4430400000001 # Actual altitude: 78.4430400000001 # Commanded vehicle depth: 2712.712972 # Seafloor depth: -2789.500998 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.53; MB_Bottom_Detect_Filter_Max_Range = 313.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 128 # Segment length 105.130402 meters # Minimum depth: 2789.934449 meters looking forward 50.000000 meters along route # Maximum depth: 2798.809667 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2714.934449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859447; longitude = -125.583591; captureRadius = 10; duration = 210; initialDepth = 2719.515291; finalDepth = 2714.934449; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7880260000002 # Actual altitude: 76.7880260000002 # Commanded vehicle depth: 2714.934449 # Seafloor depth: -2789.934449 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 127 # Segment length 85.823439 meters # Minimum depth: 2794.515291 meters looking forward 50.000000 meters along route # Maximum depth: 2798.042297 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2719.515291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858645; longitude = -125.584218; captureRadius = 10; duration = 171; # abortOnTimeout = True; initialDepth = 2718.959060; finalDepth = 2719.515291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5270059999998 # Actual altitude: 78.5270059999998 # Commanded vehicle depth: 2719.515291 # Seafloor depth: -2798.042297 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 314.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 103.875859 meters # Minimum depth: 2793.959060 meters looking forward 50.000000 meters along route # Maximum depth: 2795.479326 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2718.959060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858433; longitude = -125.585144; captureRadius = 10; duration = 207; initialDepth = 2720.699161; finalDepth = 2718.959060; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5270059999998 # Actual altitude: 78.5270059999998 # Commanded vehicle depth: 2718.95906 # Seafloor depth: -2795.400124 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 314.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 127 # Segment length 102.530974 meters # Minimum depth: 2795.699161 meters looking forward 50.000000 meters along route # Maximum depth: 2800.356251 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2720.699161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858177; longitude = -125.586264; captureRadius = 10; duration = 205; initialDepth = 2725.320312; finalDepth = 2720.699161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.4410639999996 # Actual altitude: 76.4410639999996 # Commanded vehicle depth: 2720.699161 # Seafloor depth: -2795.699161 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 125.434864 meters # Minimum depth: 2800.320312 meters looking forward 50.000000 meters along route # Maximum depth: 2819.213273 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2725.320312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857923; longitude = -125.587369; captureRadius = 10; duration = 250; # abortOnTimeout = True; initialDepth = 2747.082807; finalDepth = 2725.320312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2725.320312 # Seafloor depth: -2800.320312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 101.434856 meters # Minimum depth: 2822.082807 meters looking forward 50.000000 meters along route # Maximum depth: 2830.595511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2747.082807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857400; longitude = -125.588615; captureRadius = 10; duration = 202; initialDepth = 2754.779446; finalDepth = 2747.082807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2747.082807 # Seafloor depth: -2822.082807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 103.549148 meters # Minimum depth: 2829.779446 meters looking forward 50.000000 meters along route # Maximum depth: 2833.780411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2754.779446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856977; longitude = -125.589623; captureRadius = 10; duration = 207; initialDepth = 2759.406067; finalDepth = 2754.779446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2754.779446 # Seafloor depth: -2829.779446 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 76.885766 meters # Minimum depth: 2834.406067 meters looking forward 50.000000 meters along route # Maximum depth: 2839.389587 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2759.406067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856545; longitude = -125.590652; captureRadius = 10; duration = 153; # abortOnTimeout = True; initialDepth = 2758.556824; finalDepth = 2759.406067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2759.406067 # Seafloor depth: -2834.406067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 105.822636 meters # Minimum depth: 2833.556824 meters looking forward 50.000000 meters along route # Maximum depth: 2839.470258 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2758.556824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856091; longitude = -125.591303; captureRadius = 10; duration = 211; initialDepth = 2756.564968; finalDepth = 2758.556824; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9134340000001 # Actual altitude: 80.9134340000001 # Commanded vehicle depth: 2758.556824 # Seafloor depth: -2839.470258 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 323.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 105.823172 meters # Minimum depth: 2831.564968 meters looking forward 50.000000 meters along route # Maximum depth: 2833.919547 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2756.564968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855466; longitude = -125.592199; captureRadius = 10; duration = 211; initialDepth = 2748.136171; finalDepth = 2756.564968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9134340000001 # Actual altitude: 80.9134340000001 # Commanded vehicle depth: 2756.564968 # Seafloor depth: -2833.625121 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 323.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 105.823708 meters # Minimum depth: 2823.136171 meters looking forward 50.000000 meters along route # Maximum depth: 2831.395448 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2748.136171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854841; longitude = -125.593095; captureRadius = 10; duration = 211; initialDepth = 2725.038308; finalDepth = 2748.136171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.2592770000001 # Actual altitude: 83.2592770000001 # Commanded vehicle depth: 2748.136171 # Seafloor depth: -2831.395448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 333.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 106.035679 meters # Minimum depth: 2800.038308 meters looking forward 50.000000 meters along route # Maximum depth: 2823.068172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2725.038308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854216; longitude = -125.593991; captureRadius = 10; duration = 212; initialDepth = 2720.539133; finalDepth = 2725.038308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 98.0298639999996 # Actual altitude: 98.0298639999996 # Commanded vehicle depth: 2725.038308 # Seafloor depth: -2823.068172 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 173.736774 meters # Minimum depth: 2795.539133 meters looking forward 50.000000 meters along route # Maximum depth: 2797.852966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2720.539133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853590; longitude = -125.594889; captureRadius = 10; duration = 347; # abortOnTimeout = True; initialDepth = 2719.591574; finalDepth = 2720.539133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.0298639999996 # Actual altitude: 98.0298639999996 # Commanded vehicle depth: 2720.539133 # Seafloor depth: -2797.852966 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 102.160845 meters # Minimum depth: 2794.591574 meters looking forward 50.000000 meters along route # Maximum depth: 2796.711629 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2719.591574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852058; longitude = -125.595284; captureRadius = 10; duration = 204; initialDepth = 2715.977570; finalDepth = 2719.591574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.3138329999997 # Actual altitude: 77.3138329999997 # Commanded vehicle depth: 2719.591574 # Seafloor depth: -2796.711629 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.093642 meters # Minimum depth: 2790.977570 meters looking forward 50.000000 meters along route # Maximum depth: 2794.477703 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2715.977570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851157; longitude = -125.595517; captureRadius = 10; duration = 200; initialDepth = 2709.197524; finalDepth = 2715.977570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.500133 # Actual altitude: 78.500133 # Commanded vehicle depth: 2715.97757 # Seafloor depth: -2794.477703 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 314.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 153.723456 meters # Minimum depth: 2784.197524 meters looking forward 50.000000 meters along route # Maximum depth: 2791.921143 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2709.197524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850274; longitude = -125.595744; captureRadius = 10; duration = 307; # abortOnTimeout = True; initialDepth = 2702.181982; finalDepth = 2709.197524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7236189999999 # Actual altitude: 82.7236189999999 # Commanded vehicle depth: 2709.197524 # Seafloor depth: -2791.921143 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 330.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 101.118229 meters # Minimum depth: 2777.181982 meters looking forward 50.000000 meters along route # Maximum depth: 2782.814632 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2702.181982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848904; longitude = -125.595996; captureRadius = 10; duration = 202; initialDepth = 2702.907771; finalDepth = 2702.181982; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7236189999999 # Actual altitude: 82.7236189999999 # Commanded vehicle depth: 2702.181982 # Seafloor depth: -2782.814632 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 330.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 101.118249 meters # Minimum depth: 2777.907771 meters looking forward 50.000000 meters along route # Maximum depth: 2779.321777 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2702.907771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848002; longitude = -125.596162; captureRadius = 10; duration = 202; initialDepth = 2699.861821; finalDepth = 2702.907771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.63265 # Actual altitude: 80.63265 # Commanded vehicle depth: 2702.907771 # Seafloor depth: -2777.907771 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 322.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 103.218005 meters # Minimum depth: 2774.861821 meters looking forward 50.000000 meters along route # Maximum depth: 2779.228451 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2699.861821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847101; longitude = -125.596327; captureRadius = 10; duration = 206; initialDepth = 2697.482644; finalDepth = 2699.861821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.932378 # Actual altitude: 78.932378 # Commanded vehicle depth: 2699.861821 # Seafloor depth: -2778.794199 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 315.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 140.526243 meters # Minimum depth: 2772.482644 meters looking forward 50.000000 meters along route # Maximum depth: 2774.260864 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2697.482644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846181; longitude = -125.596496; captureRadius = 10; duration = 281; # abortOnTimeout = True; initialDepth = 2697.770845; finalDepth = 2697.482644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.932378 # Actual altitude: 78.932378 # Commanded vehicle depth: 2697.482644 # Seafloor depth: -2774.260864 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 315.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 101.887124 meters # Minimum depth: 2772.770845 meters looking forward 50.000000 meters along route # Maximum depth: 2775.343937 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2697.770845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844938; longitude = -125.596197; captureRadius = 10; duration = 203; initialDepth = 2700.117188; finalDepth = 2697.770845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7782199999997 # Actual altitude: 76.7782199999997 # Commanded vehicle depth: 2697.770845 # Seafloor depth: -2772.770845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 122 # Segment length 101.887143 meters # Minimum depth: 2775.117188 meters looking forward 50.000000 meters along route # Maximum depth: 2776.717147 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2700.117188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844037; longitude = -125.595980; captureRadius = 10; duration = 203; initialDepth = 2698.388726; finalDepth = 2700.117188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2700.117188 # Seafloor depth: -2775.117188 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 122 # Segment length 100.103892 meters # Minimum depth: 2773.388726 meters looking forward 50.000000 meters along route # Maximum depth: 2775.236818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2698.388726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843136; longitude = -125.595763; captureRadius = 10; duration = 200; initialDepth = 2692.545317; finalDepth = 2698.388726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.8480919999997 # Actual altitude: 76.8480919999997 # Commanded vehicle depth: 2698.388726 # Seafloor depth: -2775.236818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 176.001093 meters # Minimum depth: 2767.545317 meters looking forward 50.000000 meters along route # Maximum depth: 2773.295288 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2692.545317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842251; longitude = -125.595550; captureRadius = 10; duration = 352; # abortOnTimeout = True; initialDepth = 2689.753473; finalDepth = 2692.545317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.7499709999997 # Actual altitude: 80.7499709999997 # Commanded vehicle depth: 2692.545317 # Seafloor depth: -2773.295288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 323.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 108.810614 meters # Minimum depth: 2764.753473 meters looking forward 50.000000 meters along route # Maximum depth: 2768.868800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2689.753473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840793; longitude = -125.594774; captureRadius = 10; duration = 217; initialDepth = 2689.707748; finalDepth = 2689.753473; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.7499709999997 # Actual altitude: 80.7499709999997 # Commanded vehicle depth: 2689.753473 # Seafloor depth: -2768.868800 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 323.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 108.818823 meters # Minimum depth: 2764.707748 meters looking forward 50.000000 meters along route # Maximum depth: 2769.561258 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2689.707748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839892; longitude = -125.594294; captureRadius = 10; duration = 217; initialDepth = 2693.676331; finalDepth = 2689.707748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.115327 # Actual altitude: 79.115327 # Commanded vehicle depth: 2689.707748 # Seafloor depth: -2764.707748 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 145.019426 meters # Minimum depth: 2768.676331 meters looking forward 50.000000 meters along route # Maximum depth: 2774.234954 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2693.676331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838991; longitude = -125.593814; captureRadius = 10; duration = 290; # abortOnTimeout = True; initialDepth = 2689.086374; finalDepth = 2693.676331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2693.676331 # Seafloor depth: -2768.676331 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 106.895979 meters # Minimum depth: 2764.086374 meters looking forward 50.000000 meters along route # Maximum depth: 2771.173348 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2689.086374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837999; longitude = -125.592756; captureRadius = 10; duration = 213; initialDepth = 2690.170854; finalDepth = 2689.086374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0869739999998 # Actual altitude: 82.0869739999998 # Commanded vehicle depth: 2689.086374 # Seafloor depth: -2771.173348 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 328.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 103.946557 meters # Minimum depth: 2765.170854 meters looking forward 50.000000 meters along route # Maximum depth: 2771.356097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2690.170854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837269; longitude = -125.591975; captureRadius = 10; duration = 207; initialDepth = 2696.193726; finalDepth = 2690.170854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.0869739999998 # Actual altitude: 82.0869739999998 # Commanded vehicle depth: 2690.170854 # Seafloor depth: -2765.170854 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 328.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 159.876068 meters # Minimum depth: 2771.193726 meters looking forward 50.000000 meters along route # Maximum depth: 2773.788941 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2696.193726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836558; longitude = -125.591216; captureRadius = 10; duration = 319; # abortOnTimeout = True; initialDepth = 2698.787880; finalDepth = 2696.193726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2696.193726 # Seafloor depth: -2771.193726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 104.637068 meters # Minimum depth: 2773.787880 meters looking forward 50.000000 meters along route # Maximum depth: 2774.688123 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2698.787880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835629; longitude = -125.589847; captureRadius = 10; duration = 209; initialDepth = 2699.697128; finalDepth = 2698.787880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2698.78788 # Seafloor depth: -2773.787880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 104.637501 meters # Minimum depth: 2774.697128 meters looking forward 50.000000 meters along route # Maximum depth: 2778.047219 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2699.697128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835021; longitude = -125.588951; captureRadius = 10; duration = 209; initialDepth = 2696.980621; finalDepth = 2699.697128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2699.697128 # Seafloor depth: -2774.697128 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 119 # Segment length 102.764223 meters # Minimum depth: 2771.980621 meters looking forward 50.000000 meters along route # Maximum depth: 2777.638142 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2696.980621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834412; longitude = -125.588055; captureRadius = 10; duration = 205; initialDepth = 2687.510181; finalDepth = 2696.980621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.6575209999996 # Actual altitude: 80.6575209999996 # Commanded vehicle depth: 2696.980621 # Seafloor depth: -2777.638142 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.63; 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 118 # Segment length 136.252315 meters # Minimum depth: 2762.510181 meters looking forward 50.000000 meters along route # Maximum depth: 2771.758423 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2687.510181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833815; longitude = -125.587176; captureRadius = 10; duration = 272; # abortOnTimeout = True; initialDepth = 2683.070356; finalDepth = 2687.510181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2482420000001 # Actual altitude: 84.2482420000001 # Commanded vehicle depth: 2687.510181 # Seafloor depth: -2771.758423 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 336.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 336.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 103.556839 meters # Minimum depth: 2758.070356 meters looking forward 50.000000 meters along route # Maximum depth: 2762.105663 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2683.070356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832592; longitude = -125.587310; captureRadius = 10; duration = 207; initialDepth = 2682.693298; finalDepth = 2683.070356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 84.2482420000001 # Actual altitude: 84.2482420000001 # Commanded vehicle depth: 2683.070356 # Seafloor depth: -2762.105663 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 336.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 336.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 117.838146 meters # Minimum depth: 2757.693298 meters looking forward 50.000000 meters along route # Maximum depth: 2762.630445 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2682.693298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831663; longitude = -125.587413; captureRadius = 10; duration = 235; # abortOnTimeout = True; initialDepth = 2687.820478; finalDepth = 2682.693298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0353069999996 # Actual altitude: 79.0353069999996 # Commanded vehicle depth: 2682.693298 # Seafloor depth: -2757.693298 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 102.735489 meters # Minimum depth: 2762.820478 meters looking forward 50.000000 meters along route # Maximum depth: 2766.659862 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2687.820478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832322; longitude = -125.588448; captureRadius = 10; duration = 205; initialDepth = 2691.701904; finalDepth = 2687.820478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2687.820478 # Seafloor depth: -2762.820478 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 159.861820 meters # Minimum depth: 2766.701904 meters looking forward 50.000000 meters along route # Maximum depth: 2771.146938 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2691.701904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832897; longitude = -125.589351; captureRadius = 10; duration = 319; # abortOnTimeout = True; initialDepth = 2690.477757; finalDepth = 2691.701904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2691.701904 # Seafloor depth: -2766.701904 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.914785 meters # Minimum depth: 2765.477757 meters looking forward 50.000000 meters along route # Maximum depth: 2770.742334 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2690.477757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834214; longitude = -125.590073; captureRadius = 10; duration = 209; initialDepth = 2667.081416; finalDepth = 2690.477757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.2645769999999 # Actual altitude: 80.2645769999999 # Commanded vehicle depth: 2690.477757 # Seafloor depth: -2770.742334 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 321.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 141.071043 meters # Minimum depth: 2742.081416 meters looking forward 50.000000 meters along route # Maximum depth: 2765.343445 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2667.081416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835079; longitude = -125.590547; captureRadius = 10; duration = 282; # abortOnTimeout = True; initialDepth = 2619.181904; finalDepth = 2667.081416; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.262029 # Actual altitude: 98.262029 # Commanded vehicle depth: 2667.081416 # Seafloor depth: -2765.343445 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.48; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 102.578986 meters # Minimum depth: 2694.181904 meters looking forward 50.000000 meters along route # Maximum depth: 2738.263166 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2619.181904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835367; longitude = -125.592087; captureRadius = 10; duration = 205; initialDepth = 2590.957328; finalDepth = 2619.181904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.081262 # Actual altitude: 100 # Commanded vehicle depth: 2619.181904 # Seafloor depth: -2738.263166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 115 # Segment length 102.578779 meters # Minimum depth: 2665.957328 meters looking forward 50.000000 meters along route # Maximum depth: 2692.511870 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.957328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835576; longitude = -125.593207; captureRadius = 10; duration = 205; initialDepth = 2561.251893; finalDepth = 2590.957328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.081262 # Actual altitude: 100 # Commanded vehicle depth: 2590.957328 # Seafloor depth: -2692.511870 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 115 # Segment length 102.578573 meters # Minimum depth: 2636.251893 meters looking forward 50.000000 meters along route # Maximum depth: 2664.104971 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2561.251893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835785; longitude = -125.594327; captureRadius = 10; duration = 205; initialDepth = 2523.814107; finalDepth = 2561.251893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.853078 # Actual altitude: 100 # Commanded vehicle depth: 2561.251893 # Seafloor depth: -2664.104971 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 115 # Segment length 102.578367 meters # Minimum depth: 2598.814107 meters looking forward 50.000000 meters along route # Maximum depth: 2632.596553 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2523.814107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835993; longitude = -125.595447; captureRadius = 10; duration = 205; initialDepth = 2504.038727; finalDepth = 2523.814107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.782446 # Actual altitude: 100 # Commanded vehicle depth: 2523.814107 # Seafloor depth: -2632.596553 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 115 # Segment length 105.109089 meters # Minimum depth: 2579.038727 meters looking forward 50.000000 meters along route # Maximum depth: 2597.811928 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.038727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836202; longitude = -125.596567; captureRadius = 10; duration = 210; initialDepth = 2503.625854; finalDepth = 2504.038727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 108.782446 # Actual altitude: 100 # Commanded vehicle depth: 2504.038727 # Seafloor depth: -2597.811928 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 114 # Segment length 90.126248 meters # Minimum depth: 2578.625854 meters looking forward 50.000000 meters along route # Maximum depth: 2594.049438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.625854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836416; longitude = -125.597714; captureRadius = 10; duration = 180; # abortOnTimeout = True; initialDepth = 2513.990092; finalDepth = 2503.625854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.773201 # Actual altitude: 93.773201 # Commanded vehicle depth: 2503.625854 # Seafloor depth: -2578.625854 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.13; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 104.864489 meters # Minimum depth: 2588.990092 meters looking forward 50.000000 meters along route # Maximum depth: 2594.066109 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2513.990092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837106; longitude = -125.598247; captureRadius = 10; duration = 209; initialDepth = 2507.844007; finalDepth = 2513.990092; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.0760169999999 # Actual altitude: 80.0760169999999 # Commanded vehicle depth: 2513.990092 # Seafloor depth: -2594.066109 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 320.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 105.933171 meters # Minimum depth: 2582.844007 meters looking forward 50.000000 meters along route # Maximum depth: 2590.607895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2507.844007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837909; longitude = -125.598866; captureRadius = 10; duration = 211; initialDepth = 2502.163614; finalDepth = 2507.844007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.763888 # Actual altitude: 82.763888 # Commanded vehicle depth: 2507.844007 # Seafloor depth: -2590.607895 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 331.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 111.536089 meters # Minimum depth: 2577.163614 meters looking forward 50.000000 meters along route # Maximum depth: 2582.685303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.163614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838720; longitude = -125.599492; captureRadius = 10; duration = 223; initialDepth = 2499.224732; finalDepth = 2502.163614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.763888 # Actual altitude: 82.763888 # Commanded vehicle depth: 2502.163614 # Seafloor depth: -2582.685303 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 331.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 100.329448 meters # Minimum depth: 2574.224732 meters looking forward 50.000000 meters along route # Maximum depth: 2579.482818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.224732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839574; longitude = -125.600150; captureRadius = 10; duration = 200; initialDepth = 2499.130940; finalDepth = 2499.224732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.5216890000002 # Actual altitude: 80.5216890000002 # Commanded vehicle depth: 2499.224732 # Seafloor depth: -2579.482818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 108.238126 meters # Minimum depth: 2574.130940 meters looking forward 50.000000 meters along route # Maximum depth: 2576.123776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.130940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840342; longitude = -125.600743; captureRadius = 10; duration = 216; initialDepth = 2500.908751; finalDepth = 2499.130940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2580859999998 # Actual altitude: 80.2580859999998 # Commanded vehicle depth: 2499.13094 # Seafloor depth: -2574.130940 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 321.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 103.626339 meters # Minimum depth: 2575.908751 meters looking forward 50.000000 meters along route # Maximum depth: 2577.842046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.908751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841171; longitude = -125.601382; captureRadius = 10; duration = 207; initialDepth = 2502.052483; finalDepth = 2500.908751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2500.908751 # Seafloor depth: -2575.908751 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 105.931831 meters # Minimum depth: 2577.052483 meters looking forward 50.000000 meters along route # Maximum depth: 2579.372898 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.052483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841965; longitude = -125.601994; captureRadius = 10; duration = 211; initialDepth = 2504.459078; finalDepth = 2502.052483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5414610000003 # Actual altitude: 75.5414610000003 # Commanded vehicle depth: 2502.052483 # Seafloor depth: -2577.593944 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 108.522628 meters # Minimum depth: 2579.459078 meters looking forward 50.000000 meters along route # Maximum depth: 2583.402247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.459078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842776; longitude = -125.602620; captureRadius = 10; duration = 217; initialDepth = 2505.229829; finalDepth = 2504.459078; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.5414610000003 # Actual altitude: 75.5414610000003 # Commanded vehicle depth: 2504.459078 # Seafloor depth: -2579.459078 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 147.871720 meters # Minimum depth: 2580.229829 meters looking forward 50.000000 meters along route # Maximum depth: 2581.478271 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.229829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843607; longitude = -125.603261; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 2505.485016; finalDepth = 2505.229829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2484420000001 # Actual altitude: 76.2484420000001 # Commanded vehicle depth: 2505.229829 # Seafloor depth: -2581.478271 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 304.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 100.049479 meters # Minimum depth: 2580.485016 meters looking forward 50.000000 meters along route # Maximum depth: 2580.738963 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.485016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844938; longitude = -125.603231; captureRadius = 10; duration = 200; initialDepth = 2505.439387; finalDepth = 2505.485016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2484420000001 # Actual altitude: 76.2484420000001 # Commanded vehicle depth: 2505.485016 # Seafloor depth: -2580.529873 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 304.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049490 meters # Minimum depth: 2580.439387 meters looking forward 50.000000 meters along route # Maximum depth: 2582.457406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.439387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845840; longitude = -125.603212; captureRadius = 10; duration = 200; initialDepth = 2506.661431; finalDepth = 2505.439387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0448569999999 # Actual altitude: 75.0448569999999 # Commanded vehicle depth: 2505.439387 # Seafloor depth: -2580.439387 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049503 meters # Minimum depth: 2581.661431 meters looking forward 50.000000 meters along route # Maximum depth: 2582.502593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2506.661431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846741; longitude = -125.603192; captureRadius = 10; duration = 200; initialDepth = 2505.167576; finalDepth = 2506.661431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.8411620000002 # Actual altitude: 75.8411620000002 # Commanded vehicle depth: 2506.661431 # Seafloor depth: -2582.502593 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 303.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049515 meters # Minimum depth: 2580.167576 meters looking forward 50.000000 meters along route # Maximum depth: 2581.630831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.167576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847642; longitude = -125.603172; captureRadius = 10; duration = 200; initialDepth = 2505.116828; finalDepth = 2505.167576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4632550000001 # Actual altitude: 76.4632550000001 # Commanded vehicle depth: 2505.167576 # Seafloor depth: -2581.630831 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049527 meters # Minimum depth: 2580.116828 meters looking forward 50.000000 meters along route # Maximum depth: 2580.923998 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.116828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848543; longitude = -125.603152; captureRadius = 10; duration = 200; initialDepth = 2502.920811; finalDepth = 2505.116828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4632550000001 # Actual altitude: 76.4632550000001 # Commanded vehicle depth: 2505.116828 # Seafloor depth: -2580.186697 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049540 meters # Minimum depth: 2577.920811 meters looking forward 50.000000 meters along route # Maximum depth: 2579.641618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.920811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849444; longitude = -125.603132; captureRadius = 10; duration = 200; initialDepth = 2499.603813; finalDepth = 2502.920811; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7208070000001 # Actual altitude: 76.7208070000001 # Commanded vehicle depth: 2502.920811 # Seafloor depth: -2579.641618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 306.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049552 meters # Minimum depth: 2574.603813 meters looking forward 50.000000 meters along route # Maximum depth: 2578.711618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.603813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850345; longitude = -125.603112; captureRadius = 10; duration = 200; initialDepth = 2499.493704; finalDepth = 2499.603813; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1078049999996 # Actual altitude: 79.1078049999996 # Commanded vehicle depth: 2499.603813 # Seafloor depth: -2578.711618 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049564 meters # Minimum depth: 2574.493704 meters looking forward 50.000000 meters along route # Maximum depth: 2575.848526 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.493704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851247; longitude = -125.603092; captureRadius = 10; duration = 200; initialDepth = 2497.570983; finalDepth = 2499.493704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1078049999996 # Actual altitude: 79.1078049999996 # Commanded vehicle depth: 2499.493704 # Seafloor depth: -2574.493704 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049576 meters # Minimum depth: 2572.570983 meters looking forward 50.000000 meters along route # Maximum depth: 2575.666355 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2497.570983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852148; longitude = -125.603072; captureRadius = 10; duration = 200; initialDepth = 2495.623849; finalDepth = 2497.570983; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0953719999998 # Actual altitude: 78.0953719999998 # Commanded vehicle depth: 2497.570983 # Seafloor depth: -2575.666355 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 312.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049588 meters # Minimum depth: 2570.623849 meters looking forward 50.000000 meters along route # Maximum depth: 2572.049392 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2495.623849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853049; longitude = -125.603052; captureRadius = 10; duration = 200; initialDepth = 2494.251828; finalDepth = 2495.623849; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0953719999998 # Actual altitude: 78.0953719999998 # Commanded vehicle depth: 2495.623849 # Seafloor depth: -2572.049392 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 312.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049601 meters # Minimum depth: 2569.251828 meters looking forward 50.000000 meters along route # Maximum depth: 2572.088293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2494.251828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853950; longitude = -125.603032; captureRadius = 10; duration = 200; initialDepth = 2490.120254; finalDepth = 2494.251828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8364649999999 # Actual altitude: 77.8364649999999 # Commanded vehicle depth: 2494.251828 # Seafloor depth: -2572.088293 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 311.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049613 meters # Minimum depth: 2565.120254 meters looking forward 50.000000 meters along route # Maximum depth: 2568.657447 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.120254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854851; longitude = -125.603012; captureRadius = 10; duration = 200; initialDepth = 2487.979304; finalDepth = 2490.120254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.5371930000001 # Actual altitude: 78.5371930000001 # Commanded vehicle depth: 2490.120254 # Seafloor depth: -2568.657447 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 314.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049625 meters # Minimum depth: 2562.979304 meters looking forward 50.000000 meters along route # Maximum depth: 2567.078042 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.979304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855752; longitude = -125.602992; captureRadius = 10; duration = 200; initialDepth = 2487.911386; finalDepth = 2487.979304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0987380000001 # Actual altitude: 79.0987380000001 # Commanded vehicle depth: 2487.979304 # Seafloor depth: -2567.078042 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049638 meters # Minimum depth: 2562.911386 meters looking forward 50.000000 meters along route # Maximum depth: 2564.555734 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.911386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856654; longitude = -125.602972; captureRadius = 10; duration = 200; initialDepth = 2485.957577; finalDepth = 2487.911386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0987380000001 # Actual altitude: 79.0987380000001 # Commanded vehicle depth: 2487.911386 # Seafloor depth: -2562.911386 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 316.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049649 meters # Minimum depth: 2560.957577 meters looking forward 50.000000 meters along route # Maximum depth: 2564.476595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2485.957577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857555; longitude = -125.602952; captureRadius = 10; duration = 200; initialDepth = 2485.983776; finalDepth = 2485.957577; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.519018 # Actual altitude: 78.519018 # Commanded vehicle depth: 2485.957577 # Seafloor depth: -2564.476595 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 314.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049662 meters # Minimum depth: 2560.983776 meters looking forward 50.000000 meters along route # Maximum depth: 2561.929222 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2485.983776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858456; longitude = -125.602932; captureRadius = 10; duration = 200; initialDepth = 2486.086465; finalDepth = 2485.983776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.519018 # Actual altitude: 78.519018 # Commanded vehicle depth: 2485.983776 # Seafloor depth: -2560.983776 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 314.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049674 meters # Minimum depth: 2561.086465 meters looking forward 50.000000 meters along route # Maximum depth: 2562.372461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.086465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859357; longitude = -125.602912; captureRadius = 10; duration = 200; initialDepth = 2483.284897; finalDepth = 2486.086465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2486.086465 # Seafloor depth: -2561.086465 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049687 meters # Minimum depth: 2558.284897 meters looking forward 50.000000 meters along route # Maximum depth: 2562.280985 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.284897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860258; longitude = -125.602892; captureRadius = 10; duration = 200; initialDepth = 2483.477544; finalDepth = 2483.284897; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9960879999999 # Actual altitude: 78.9960879999999 # Commanded vehicle depth: 2483.284897 # Seafloor depth: -2562.280985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.70; MB_Bottom_Detect_Filter_Max_Range = 315.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049698 meters # Minimum depth: 2558.477544 meters looking forward 50.000000 meters along route # Maximum depth: 2559.700173 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.477544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861160; longitude = -125.602873; captureRadius = 10; duration = 200; initialDepth = 2484.792714; finalDepth = 2483.477544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9960879999999 # Actual altitude: 78.9960879999999 # Commanded vehicle depth: 2483.477544 # Seafloor depth: -2558.477544 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.70; MB_Bottom_Detect_Filter_Max_Range = 315.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049711 meters # Minimum depth: 2559.792714 meters looking forward 50.000000 meters along route # Maximum depth: 2561.783803 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2484.792714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862061; longitude = -125.602853; captureRadius = 10; duration = 200; initialDepth = 2487.257193; finalDepth = 2484.792714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2484.792714 # Seafloor depth: -2559.792714 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049723 meters # Minimum depth: 2562.257193 meters looking forward 50.000000 meters along route # Maximum depth: 2569.948407 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.257193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862962; longitude = -125.602833; captureRadius = 10; duration = 200; initialDepth = 2495.390191; finalDepth = 2487.257193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2487.257193 # Seafloor depth: -2562.257193 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.049735 meters # Minimum depth: 2570.390191 meters looking forward 50.000000 meters along route # Maximum depth: 2576.491467 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2495.390191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863863; longitude = -125.602813; captureRadius = 10; duration = 200; initialDepth = 2502.565975; finalDepth = 2495.390191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2495.390191 # Seafloor depth: -2570.390191 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 104.706627 meters # Minimum depth: 2577.565975 meters looking forward 50.000000 meters along route # Maximum depth: 2581.296925 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.565975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864764; longitude = -125.602793; captureRadius = 10; duration = 209; initialDepth = 2502.148216; finalDepth = 2502.565975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2502.565975 # Seafloor depth: -2577.565975 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 136.931487 meters # Minimum depth: 2577.148216 meters looking forward 50.000000 meters along route # Maximum depth: 2580.883261 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.148216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865707; longitude = -125.602772; captureRadius = 10; duration = 273; # abortOnTimeout = True; initialDepth = 2497.759056; finalDepth = 2502.148216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.845742 # Actual altitude: 77.845742 # Commanded vehicle depth: 2502.148216 # Seafloor depth: -2579.993958 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 311.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 100.216365 meters # Minimum depth: 2572.759056 meters looking forward 50.000000 meters along route # Maximum depth: 2579.263605 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2497.759056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865215; longitude = -125.601364; captureRadius = 10; duration = 200; initialDepth = 2504.788891; finalDepth = 2497.759056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1671510000001 # Actual altitude: 79.1671510000001 # Commanded vehicle depth: 2497.759056 # Seafloor depth: -2576.926207 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 100.216708 meters # Minimum depth: 2579.788891 meters looking forward 50.000000 meters along route # Maximum depth: 2581.000513 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.788891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864854; longitude = -125.600334; captureRadius = 10; duration = 200; initialDepth = 2505.203238; finalDepth = 2504.788891; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1671510000001 # Actual altitude: 79.1671510000001 # Commanded vehicle depth: 2504.788891 # Seafloor depth: -2579.788891 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.75; MB_Bottom_Detect_Filter_Max_Range = 316.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 100.217051 meters # Minimum depth: 2580.203238 meters looking forward 50.000000 meters along route # Maximum depth: 2582.624383 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.203238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864494; longitude = -125.599304; captureRadius = 10; duration = 200; initialDepth = 2497.285888; finalDepth = 2505.203238; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5220709999999 # Actual altitude: 75.5220709999999 # Commanded vehicle depth: 2505.203238 # Seafloor depth: -2580.725309 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 100.217394 meters # Minimum depth: 2572.285888 meters looking forward 50.000000 meters along route # Maximum depth: 2579.082666 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2497.285888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864133; longitude = -125.598274; captureRadius = 10; duration = 200; initialDepth = 2496.730261; finalDepth = 2497.285888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7967779999999 # Actual altitude: 81.7967779999999 # Commanded vehicle depth: 2497.285888 # Seafloor depth: -2579.082666 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 100.217736 meters # Minimum depth: 2571.730261 meters looking forward 50.000000 meters along route # Maximum depth: 2576.305774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2496.730261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863773; longitude = -125.597244; captureRadius = 10; duration = 200; initialDepth = 2501.443774; finalDepth = 2496.730261; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7967779999999 # Actual altitude: 81.7967779999999 # Commanded vehicle depth: 2496.730261 # Seafloor depth: -2571.730261 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 107.283788 meters # Minimum depth: 2576.443774 meters looking forward 50.000000 meters along route # Maximum depth: 2578.636114 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2501.443774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863412; longitude = -125.596214; captureRadius = 10; duration = 214; initialDepth = 2503.231502; finalDepth = 2501.443774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2501.443774 # Seafloor depth: -2576.443774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 108.948638 meters # Minimum depth: 2578.231502 meters looking forward 50.000000 meters along route # Maximum depth: 2584.931893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.231502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863027; longitude = -125.595111; captureRadius = 10; duration = 217; initialDepth = 2506.235748; finalDepth = 2503.231502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2503.231502 # Seafloor depth: -2578.231502 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 106.402905 meters # Minimum depth: 2581.235748 meters looking forward 50.000000 meters along route # Maximum depth: 2593.998566 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2506.235748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862635; longitude = -125.593991; captureRadius = 10; duration = 212; initialDepth = 2519.612549; finalDepth = 2506.235748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2506.235748 # Seafloor depth: -2581.235748 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 158.571280 meters # Minimum depth: 2594.612549 meters looking forward 50.000000 meters along route # Maximum depth: 2602.332998 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2519.612549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862252; longitude = -125.592897; captureRadius = 10; duration = 317; # abortOnTimeout = True; initialDepth = 2527.813754; finalDepth = 2519.612549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2519.612549 # Seafloor depth: -2594.612549 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 100.650381 meters # Minimum depth: 2602.813754 meters looking forward 50.000000 meters along route # Maximum depth: 2603.985521 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2527.813754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862962; longitude = -125.591354; captureRadius = 10; duration = 201; initialDepth = 2529.183515; finalDepth = 2527.813754; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2527.813754 # Seafloor depth: -2602.813754 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.649887 meters # Minimum depth: 2604.183515 meters looking forward 50.000000 meters along route # Maximum depth: 2608.791963 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2529.183515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863412; longitude = -125.590375; captureRadius = 10; duration = 201; initialDepth = 2533.741976; finalDepth = 2529.183515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2529.183515 # Seafloor depth: -2604.183515 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.649393 meters # Minimum depth: 2608.741976 meters looking forward 50.000000 meters along route # Maximum depth: 2611.457914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2533.741976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863863; longitude = -125.589396; captureRadius = 10; duration = 201; initialDepth = 2536.753803; finalDepth = 2533.741976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2533.741976 # Seafloor depth: -2608.741976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.648899 meters # Minimum depth: 2611.753803 meters looking forward 50.000000 meters along route # Maximum depth: 2615.990848 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2536.753803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864314; longitude = -125.588417; captureRadius = 10; duration = 201; initialDepth = 2538.150396; finalDepth = 2536.753803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2536.753803 # Seafloor depth: -2611.753803 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.648406 meters # Minimum depth: 2613.150396 meters looking forward 50.000000 meters along route # Maximum depth: 2615.938976 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.150396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864764; longitude = -125.587437; captureRadius = 10; duration = 201; initialDepth = 2540.195111; finalDepth = 2538.150396; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7885799999999 # Actual altitude: 77.7885799999999 # Commanded vehicle depth: 2538.150396 # Seafloor depth: -2615.938976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.647911 meters # Minimum depth: 2615.195111 meters looking forward 50.000000 meters along route # Maximum depth: 2619.313525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2540.195111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865215; longitude = -125.586458; captureRadius = 10; duration = 201; initialDepth = 2544.058584; finalDepth = 2540.195111; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7885799999999 # Actual altitude: 77.7885799999999 # Commanded vehicle depth: 2540.195111 # Seafloor depth: -2615.195111 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 311.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.647418 meters # Minimum depth: 2619.058584 meters looking forward 50.000000 meters along route # Maximum depth: 2628.928250 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2544.058584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865665; longitude = -125.585479; captureRadius = 10; duration = 201; initialDepth = 2554.764496; finalDepth = 2544.058584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2544.058584 # Seafloor depth: -2619.058584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.646923 meters # Minimum depth: 2629.764496 meters looking forward 50.000000 meters along route # Maximum depth: 2633.854311 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2554.764496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866116; longitude = -125.584500; captureRadius = 10; duration = 201; initialDepth = 2549.185779; finalDepth = 2554.764496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2554.764496 # Seafloor depth: -2629.764496 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.646430 meters # Minimum depth: 2624.185779 meters looking forward 50.000000 meters along route # Maximum depth: 2634.214788 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2549.185779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866567; longitude = -125.583520; captureRadius = 10; duration = 201; initialDepth = 2547.256786; finalDepth = 2549.185779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0290090000003 # Actual altitude: 85.0290090000003 # Commanded vehicle depth: 2549.185779 # Seafloor depth: -2634.214788 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 340.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 100.831097 meters # Minimum depth: 2622.256786 meters looking forward 50.000000 meters along route # Maximum depth: 2627.211919 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2547.256786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867017; longitude = -125.582541; captureRadius = 10; duration = 201; initialDepth = 2547.458295; finalDepth = 2547.256786; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.0290090000003 # Actual altitude: 85.0290090000003 # Commanded vehicle depth: 2547.256786 # Seafloor depth: -2623.478849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 340.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 103.590187 meters # Minimum depth: 2622.458295 meters looking forward 50.000000 meters along route # Maximum depth: 2627.222173 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2547.458295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867469; longitude = -125.581560; captureRadius = 10; duration = 207; initialDepth = 2549.381448; finalDepth = 2547.458295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7638780000002 # Actual altitude: 79.7638780000002 # Commanded vehicle depth: 2547.458295 # Seafloor depth: -2627.222173 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 103.589665 meters # Minimum depth: 2624.381448 meters looking forward 50.000000 meters along route # Maximum depth: 2643.841426 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2549.381448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867932; longitude = -125.580552; captureRadius = 10; duration = 207; initialDepth = 2570.466804; finalDepth = 2549.381448; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7638780000002 # Actual altitude: 79.7638780000002 # Commanded vehicle depth: 2549.381448 # Seafloor depth: -2624.381448 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 111 # Segment length 101.140862 meters # Minimum depth: 2645.466804 meters looking forward 50.000000 meters along route # Maximum depth: 2656.742867 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2570.466804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868396; longitude = -125.579544; captureRadius = 10; duration = 202; initialDepth = 2576.362757; finalDepth = 2570.466804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2570.466804 # Seafloor depth: -2645.466804 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 155.541074 meters # Minimum depth: 2651.362757 meters looking forward 50.000000 meters along route # Maximum depth: 2657.018982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2576.362757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868849; longitude = -125.578560; captureRadius = 10; duration = 311; # abortOnTimeout = True; initialDepth = 2583.394370; finalDepth = 2576.362757; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.6562250000002 # Actual altitude: 80.6562250000002 # Commanded vehicle depth: 2576.362757 # Seafloor depth: -2657.018982 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 100.948255 meters # Minimum depth: 2658.394370 meters looking forward 50.000000 meters along route # Maximum depth: 2672.789293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2583.394370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867738; longitude = -125.577497; captureRadius = 10; duration = 201; initialDepth = 2583.981541; finalDepth = 2583.394370; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.6562250000002 # Actual altitude: 80.6562250000002 # Commanded vehicle depth: 2583.39437 # Seafloor depth: -2658.394370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 322.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.948566 meters # Minimum depth: 2658.981541 meters looking forward 50.000000 meters along route # Maximum depth: 2662.684772 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2583.981541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867017; longitude = -125.576807; captureRadius = 10; duration = 201; initialDepth = 2586.715601; finalDepth = 2583.981541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.703231 # Actual altitude: 78.703231 # Commanded vehicle depth: 2583.981541 # Seafloor depth: -2662.684772 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.948876 meters # Minimum depth: 2661.715601 meters looking forward 50.000000 meters along route # Maximum depth: 2664.434015 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2586.715601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866296; longitude = -125.576117; captureRadius = 10; duration = 201; initialDepth = 2588.809430; finalDepth = 2586.715601; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.703231 # Actual altitude: 78.703231 # Commanded vehicle depth: 2586.715601 # Seafloor depth: -2661.715601 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 314.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 314.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 314.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.949187 meters # Minimum depth: 2663.809430 meters looking forward 50.000000 meters along route # Maximum depth: 2666.518646 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2588.809430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865575; longitude = -125.575427; captureRadius = 10; duration = 201; initialDepth = 2592.121100; finalDepth = 2588.809430; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2588.80943 # Seafloor depth: -2663.809430 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.949498 meters # Minimum depth: 2667.121100 meters looking forward 50.000000 meters along route # Maximum depth: 2673.555542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2592.121100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864854; longitude = -125.574737; captureRadius = 10; duration = 201; initialDepth = 2598.644319; finalDepth = 2592.121100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2592.1211 # Seafloor depth: -2667.121100 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.949809 meters # Minimum depth: 2673.644319 meters looking forward 50.000000 meters along route # Maximum depth: 2677.493987 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2598.644319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864133; longitude = -125.574048; captureRadius = 10; duration = 201; initialDepth = 2602.505374; finalDepth = 2598.644319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2598.644319 # Seafloor depth: -2673.644319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 100.950120 meters # Minimum depth: 2677.505374 meters looking forward 50.000000 meters along route # Maximum depth: 2682.772295 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2602.505374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863412; longitude = -125.573358; captureRadius = 10; duration = 201; initialDepth = 2608.188626; finalDepth = 2602.505374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2602.505374 # Seafloor depth: -2677.505374 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 110 # Segment length 106.657626 meters # Minimum depth: 2683.188626 meters looking forward 50.000000 meters along route # Maximum depth: 2689.250548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2608.188626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862691; longitude = -125.572668; captureRadius = 10; duration = 213; initialDepth = 2607.141570; finalDepth = 2608.188626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2608.188626 # Seafloor depth: -2683.188626 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 124.181576 meters # Minimum depth: 2682.141570 meters looking forward 50.000000 meters along route # Maximum depth: 2688.801086 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2607.141570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861930; longitude = -125.571939; captureRadius = 10; duration = 248; # abortOnTimeout = True; initialDepth = 2602.891017; finalDepth = 2607.141570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.6595160000002 # Actual altitude: 81.6595160000002 # Commanded vehicle depth: 2607.14157 # Seafloor depth: -2688.801086 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 326.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 112.035377 meters # Minimum depth: 2677.891017 meters looking forward 50.000000 meters along route # Maximum depth: 2682.125278 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2602.891017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862601; longitude = -125.573052; captureRadius = 10; duration = 224; initialDepth = 2597.300867; finalDepth = 2602.891017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.6595160000002 # Actual altitude: 81.6595160000002 # Commanded vehicle depth: 2602.891017 # Seafloor depth: -2682.125278 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.50; MB_Bottom_Detect_Filter_Max_Range = 326.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 104.589625 meters # Minimum depth: 2672.300867 meters looking forward 50.000000 meters along route # Maximum depth: 2678.737631 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2597.300867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863207; longitude = -125.574057; captureRadius = 10; duration = 209; initialDepth = 2590.709687; finalDepth = 2597.300867; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.436764 # Actual altitude: 81.436764 # Commanded vehicle depth: 2597.300867 # Seafloor depth: -2678.737631 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 325.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 107.730305 meters # Minimum depth: 2665.709687 meters looking forward 50.000000 meters along route # Maximum depth: 2672.176574 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.709687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863773; longitude = -125.574995; captureRadius = 10; duration = 215; initialDepth = 2589.528375; finalDepth = 2590.709687; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.466887 # Actual altitude: 81.466887 # Commanded vehicle depth: 2590.709687 # Seafloor depth: -2672.176574 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 325.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 109 # Segment length 106.811707 meters # Minimum depth: 2664.528375 meters looking forward 50.000000 meters along route # Maximum depth: 2665.151919 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2589.528375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864356; longitude = -125.575961; captureRadius = 10; duration = 213; initialDepth = 2582.339214; finalDepth = 2589.528375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.466887 # Actual altitude: 81.466887 # Commanded vehicle depth: 2589.528375 # Seafloor depth: -2665.151919 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 325.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 141.166674 meters # Minimum depth: 2657.339214 meters looking forward 50.000000 meters along route # Maximum depth: 2664.829163 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2582.339214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864933; longitude = -125.576918; captureRadius = 10; duration = 282; # abortOnTimeout = True; initialDepth = 2578.658020; finalDepth = 2582.339214; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.4899489999998 # Actual altitude: 82.4899489999998 # Commanded vehicle depth: 2582.339214 # Seafloor depth: -2664.829163 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 329.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 102.066079 meters # Minimum depth: 2653.658020 meters looking forward 50.000000 meters along route # Maximum depth: 2657.236252 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2578.658020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865535; longitude = -125.578312; captureRadius = 10; duration = 204; initialDepth = 2572.896512; finalDepth = 2578.658020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.4899489999998 # Actual altitude: 82.4899489999998 # Commanded vehicle depth: 2578.65802 # Seafloor depth: -2657.236252 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 329.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 110.900127 meters # Minimum depth: 2647.896512 meters looking forward 50.000000 meters along route # Maximum depth: 2653.131726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2572.896512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865971; longitude = -125.579320; captureRadius = 10; duration = 221; initialDepth = 2573.953979; finalDepth = 2572.896512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 80.2352140000003 # Actual altitude: 80.2352140000003 # Commanded vehicle depth: 2572.896512 # Seafloor depth: -2653.131726 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 94.225168 meters # Minimum depth: 2648.953979 meters looking forward 50.000000 meters along route # Maximum depth: 2651.057500 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2573.953979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866444; longitude = -125.580415; captureRadius = 10; duration = 188; # abortOnTimeout = True; initialDepth = 2572.442725; finalDepth = 2573.953979; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2352140000003 # Actual altitude: 80.2352140000003 # Commanded vehicle depth: 2573.953979 # Seafloor depth: -2648.953979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.233339 meters # Minimum depth: 2647.442725 meters looking forward 50.000000 meters along route # Maximum depth: 2650.074637 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2572.442725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865936; longitude = -125.581262; captureRadius = 10; duration = 200; initialDepth = 2563.981876; finalDepth = 2572.442725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6319120000003 # Actual altitude: 77.6319120000003 # Commanded vehicle depth: 2572.442725 # Seafloor depth: -2650.074637 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 310.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 107 # Segment length 100.233836 meters # Minimum depth: 2638.981876 meters looking forward 50.000000 meters along route # Maximum depth: 2647.248436 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2563.981876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865395; longitude = -125.582162; captureRadius = 10; duration = 200; initialDepth = 2558.700027; finalDepth = 2563.981876; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.26656 # Actual altitude: 83.26656 # Commanded vehicle depth: 2563.981876 # Seafloor depth: -2647.248436 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 333.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 107 # Segment length 100.234332 meters # Minimum depth: 2633.700027 meters looking forward 50.000000 meters along route # Maximum depth: 2638.473826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2558.700027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864854; longitude = -125.583062; captureRadius = 10; duration = 200; initialDepth = 2553.542515; finalDepth = 2558.700027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.26656 # Actual altitude: 83.26656 # Commanded vehicle depth: 2558.700027 # Seafloor depth: -2638.473826 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 333.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 107 # Segment length 106.690698 meters # Minimum depth: 2628.542515 meters looking forward 50.000000 meters along route # Maximum depth: 2633.259168 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2553.542515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864314; longitude = -125.583962; captureRadius = 10; duration = 213; initialDepth = 2550.676051; finalDepth = 2553.542515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7737990000001 # Actual altitude: 79.7737990000001 # Commanded vehicle depth: 2553.542515 # Seafloor depth: -2633.259168 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 107 # Segment length 102.793602 meters # Minimum depth: 2625.676051 meters looking forward 50.000000 meters along route # Maximum depth: 2628.213151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2550.676051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863738; longitude = -125.584920; captureRadius = 10; duration = 205; initialDepth = 2544.891901; finalDepth = 2550.676051; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 79.716653 # Actual altitude: 79.716653 # Commanded vehicle depth: 2550.676051 # Seafloor depth: -2628.213151 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.91; MB_Bottom_Detect_Filter_Max_Range = 318.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 107.458783 meters # Minimum depth: 2619.891901 meters looking forward 50.000000 meters along route # Maximum depth: 2625.413513 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2544.891901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863184; longitude = -125.585843; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 2536.575007; finalDepth = 2544.891901; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.521612 # Actual altitude: 80.521612 # Commanded vehicle depth: 2544.891901 # Seafloor depth: -2625.413513 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 322.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 109.877508 meters # Minimum depth: 2611.575007 meters looking forward 50.000000 meters along route # Maximum depth: 2618.898687 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2536.575007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863189; longitude = -125.587048; captureRadius = 10; duration = 219; initialDepth = 2531.493041; finalDepth = 2536.575007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.32368 # Actual altitude: 82.32368 # Commanded vehicle depth: 2536.575007 # Seafloor depth: -2618.898687 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 103.900955 meters # Minimum depth: 2606.493041 meters looking forward 50.000000 meters along route # Maximum depth: 2611.288723 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2531.493041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863194; longitude = -125.588279; captureRadius = 10; duration = 207; initialDepth = 2528.914885; finalDepth = 2531.493041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.32368 # Actual altitude: 82.32368 # Commanded vehicle depth: 2531.493041 # Seafloor depth: -2611.288723 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 329.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 146.351578 meters # Minimum depth: 2603.914885 meters looking forward 50.000000 meters along route # Maximum depth: 2606.325500 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2528.914885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863198; longitude = -125.589444; captureRadius = 10; duration = 292; # abortOnTimeout = True; initialDepth = 2514.269990; finalDepth = 2528.914885; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7956819999999 # Actual altitude: 79.7956819999999 # Commanded vehicle depth: 2528.914885 # Seafloor depth: -2606.325500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.94; MB_Bottom_Detect_Filter_Max_Range = 319.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 100.252485 meters # Minimum depth: 2589.269990 meters looking forward 50.000000 meters along route # Maximum depth: 2603.905414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2514.269990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863086; longitude = -125.591079; captureRadius = 10; duration = 200; initialDepth = 2503.785240; finalDepth = 2514.269990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6354240000001 # Actual altitude: 89.6354240000001 # Commanded vehicle depth: 2514.26999 # Seafloor depth: -2603.905414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.89; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 109.592675 meters # Minimum depth: 2578.785240 meters looking forward 50.000000 meters along route # Maximum depth: 2587.113979 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.785240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863009; longitude = -125.592199; captureRadius = 10; duration = 219; initialDepth = 2503.805298; finalDepth = 2503.785240; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 89.6354240000001 # Actual altitude: 89.6354240000001 # Commanded vehicle depth: 2503.78524 # Seafloor depth: -2587.113979 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.89; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 104 # Segment length 83.472670 meters # Minimum depth: 2578.805298 meters looking forward 50.000000 meters along route # Maximum depth: 2583.349268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.805298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862925; longitude = -125.593423; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 2507.575216; finalDepth = 2503.805298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.328739 # Actual altitude: 83.328739 # Commanded vehicle depth: 2503.805298 # Seafloor depth: -2578.805298 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 333.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 108.281443 meters # Minimum depth: 2582.575216 meters looking forward 50.000000 meters along route # Maximum depth: 2584.704408 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2507.575216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862729; longitude = -125.594327; captureRadius = 10; duration = 216; initialDepth = 2508.420837; finalDepth = 2507.575216; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.1291919999999 # Actual altitude: 77.1291919999999 # Commanded vehicle depth: 2507.575216 # Seafloor depth: -2584.704408 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 112.186220 meters # Minimum depth: 2583.420837 meters looking forward 50.000000 meters along route # Maximum depth: 2586.856555 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2508.420837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862475; longitude = -125.595499; captureRadius = 10; duration = 224; # abortOnTimeout = True; initialDepth = 2506.290019; finalDepth = 2508.420837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1291919999999 # Actual altitude: 77.1291919999999 # Commanded vehicle depth: 2508.420837 # Seafloor depth: -2583.420837 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 308.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 103.137514 meters # Minimum depth: 2581.290019 meters looking forward 50.000000 meters along route # Maximum depth: 2587.032729 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2506.290019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861790; longitude = -125.596424; captureRadius = 10; duration = 206; initialDepth = 2500.774652; finalDepth = 2506.290019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.74271 # Actual altitude: 80.74271 # Commanded vehicle depth: 2506.290019 # Seafloor depth: -2587.032729 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 322.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 91.833430 meters # Minimum depth: 2575.774652 meters looking forward 50.000000 meters along route # Maximum depth: 2580.832642 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.774652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861161; longitude = -125.597274; captureRadius = 10; duration = 183; # abortOnTimeout = True; initialDepth = 2490.685725; finalDepth = 2500.774652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.74271 # Actual altitude: 80.74271 # Commanded vehicle depth: 2500.774652 # Seafloor depth: -2580.832642 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 322.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 322.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 322.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 104.749604 meters # Minimum depth: 2565.685725 meters looking forward 50.000000 meters along route # Maximum depth: 2575.452830 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.685725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860529; longitude = -125.597939; captureRadius = 10; duration = 209; initialDepth = 2490.659106; finalDepth = 2490.685725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.7671050000004 # Actual altitude: 84.7671050000004 # Commanded vehicle depth: 2490.685725 # Seafloor depth: -2575.452830 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 339.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 339.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 104.169556 meters # Minimum depth: 2565.659106 meters looking forward 50.000000 meters along route # Maximum depth: 2570.393452 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.659106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859808; longitude = -125.598696; captureRadius = 10; duration = 208; initialDepth = 2495.856750; finalDepth = 2490.659106; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.7671050000004 # Actual altitude: 84.7671050000004 # Commanded vehicle depth: 2490.659106 # Seafloor depth: -2565.659106 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 339.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 339.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 339.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 89.048605 meters # Minimum depth: 2570.856750 meters looking forward 50.000000 meters along route # Maximum depth: 2574.975528 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2495.856750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859091; longitude = -125.599450; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 2499.052096; finalDepth = 2495.856750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2495.85675 # Seafloor depth: -2570.856750 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 103.499664 meters # Minimum depth: 2574.052096 meters looking forward 50.000000 meters along route # Maximum depth: 2575.179629 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.052096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858366; longitude = -125.599877; captureRadius = 10; duration = 206; initialDepth = 2500.310835; finalDepth = 2499.052096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.826669 # Actual altitude: 75.826669 # Commanded vehicle depth: 2499.052096 # Seafloor depth: -2574.878765 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 303.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 106.825879 meters # Minimum depth: 2575.310835 meters looking forward 50.000000 meters along route # Maximum depth: 2577.222031 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.310835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857523; longitude = -125.600374; captureRadius = 10; duration = 213; initialDepth = 2501.120612; finalDepth = 2500.310835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.826669 # Actual altitude: 75.826669 # Commanded vehicle depth: 2500.310835 # Seafloor depth: -2575.310835 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.75; MB_Bottom_Detect_Filter_Max_Range = 303.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 103.118163 meters # Minimum depth: 2576.120612 meters looking forward 50.000000 meters along route # Maximum depth: 2577.179370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2501.120612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856654; longitude = -125.600887; captureRadius = 10; duration = 206; initialDepth = 2500.506438; finalDepth = 2501.120612; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2131249999998 # Actual altitude: 75.2131249999998 # Commanded vehicle depth: 2501.120612 # Seafloor depth: -2576.333737 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 101 # Segment length 100.843546 meters # Minimum depth: 2575.506438 meters looking forward 50.000000 meters along route # Maximum depth: 2576.846205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.506438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855814; longitude = -125.601382; captureRadius = 10; duration = 201; initialDepth = 2499.708076; finalDepth = 2500.506438; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.3397669999999 # Actual altitude: 76.3397669999999 # Commanded vehicle depth: 2500.506438 # Seafloor depth: -2576.846205 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 305.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 154.124169 meters # Minimum depth: 2574.708076 meters looking forward 50.000000 meters along route # Maximum depth: 2576.465881 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.708076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854993; longitude = -125.601866; captureRadius = 10; duration = 308; # abortOnTimeout = True; initialDepth = 2500.001526; finalDepth = 2499.708076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7578050000002 # Actual altitude: 76.7578050000002 # Commanded vehicle depth: 2499.708076 # Seafloor depth: -2576.465881 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 158.958965 meters # Minimum depth: 2575.001526 meters looking forward 50.000000 meters along route # Maximum depth: 2579.638649 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.001526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853646; longitude = -125.602285; captureRadius = 10; duration = 317; # abortOnTimeout = True; initialDepth = 2504.712095; finalDepth = 2500.001526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.7578050000002 # Actual altitude: 76.7578050000002 # Commanded vehicle depth: 2500.001526 # Seafloor depth: -2575.001526 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 108.274990 meters # Minimum depth: 2579.712095 meters looking forward 50.000000 meters along route # Maximum depth: 2580.403189 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.712095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852214; longitude = -125.602314; captureRadius = 10; duration = 216; # abortOnTimeout = True; initialDepth = 2505.450596; finalDepth = 2504.712095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0304590000001 # Actual altitude: 75.0304590000001 # Commanded vehicle depth: 2504.712095 # Seafloor depth: -2579.742554 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 98 # Segment length 103.335745 meters # Minimum depth: 2580.450596 meters looking forward 50.000000 meters along route # Maximum depth: 2582.921842 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.450596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851247; longitude = -125.602162; captureRadius = 10; duration = 206; initialDepth = 2508.149353; finalDepth = 2505.450596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.0304590000001 # Actual altitude: 75.0304590000001 # Commanded vehicle depth: 2505.450596 # Seafloor depth: -2580.450596 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 300.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 88.288396 meters # Minimum depth: 2583.149353 meters looking forward 50.000000 meters along route # Maximum depth: 2584.018593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2508.149353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850323; longitude = -125.602018; captureRadius = 10; duration = 176; # abortOnTimeout = True; initialDepth = 2508.854434; finalDepth = 2508.149353; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2508.149353 # Seafloor depth: -2583.149353 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 109.343393 meters # Minimum depth: 2583.854434 meters looking forward 50.000000 meters along route # Maximum depth: 2587.468471 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2508.854434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849625; longitude = -125.601544; captureRadius = 10; duration = 218; initialDepth = 2510.673676; finalDepth = 2508.854434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2508.854434 # Seafloor depth: -2583.854434 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 158.263615 meters # Minimum depth: 2585.673676 meters looking forward 50.000000 meters along route # Maximum depth: 2587.436401 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.673676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848759; longitude = -125.600958; captureRadius = 10; duration = 316; # abortOnTimeout = True; initialDepth = 2509.632024; finalDepth = 2510.673676; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.762725 # Actual altitude: 76.762725 # Commanded vehicle depth: 2510.673676 # Seafloor depth: -2587.436401 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 109.177364 meters # Minimum depth: 2584.632024 meters looking forward 50.000000 meters along route # Maximum depth: 2587.404322 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.632024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850165; longitude = -125.600662; captureRadius = 10; duration = 218; initialDepth = 2511.081981; finalDepth = 2509.632024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.762725 # Actual altitude: 76.762725 # Commanded vehicle depth: 2509.632024 # Seafloor depth: -2585.446390 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 307.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 126.628942 meters # Minimum depth: 2586.081981 meters looking forward 50.000000 meters along route # Maximum depth: 2587.632568 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.081981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851135; longitude = -125.600458; captureRadius = 10; duration = 253; # abortOnTimeout = True; initialDepth = 2511.260221; finalDepth = 2511.081981; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5505870000002 # Actual altitude: 76.5505870000002 # Commanded vehicle depth: 2511.081981 # Seafloor depth: -2587.632568 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 103.464234 meters # Minimum depth: 2586.260221 meters looking forward 50.000000 meters along route # Maximum depth: 2586.694918 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.260221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852238; longitude = -125.600095; captureRadius = 10; duration = 206; initialDepth = 2508.200316; finalDepth = 2511.260221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.5505870000002 # Actual altitude: 76.5505870000002 # Commanded vehicle depth: 2511.260221 # Seafloor depth: -2586.694918 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.97; MB_Bottom_Detect_Filter_Max_Range = 306.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 100.920340 meters # Minimum depth: 2583.200316 meters looking forward 50.000000 meters along route # Maximum depth: 2586.187874 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2508.200316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853139; longitude = -125.599799; captureRadius = 10; duration = 201; initialDepth = 2509.426147; finalDepth = 2508.200316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.9875580000003 # Actual altitude: 77.9875580000003 # Commanded vehicle depth: 2508.200316 # Seafloor depth: -2586.187874 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 311.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 165.539729 meters # Minimum depth: 2584.426147 meters looking forward 50.000000 meters along route # Maximum depth: 2584.893589 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.426147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854018; longitude = -125.599510; captureRadius = 10; duration = 331; # abortOnTimeout = True; initialDepth = 2507.581294; finalDepth = 2509.426147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9875580000003 # Actual altitude: 77.9875580000003 # Commanded vehicle depth: 2509.426147 # Seafloor depth: -2584.426147 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 311.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 108.579827 meters # Minimum depth: 2582.581294 meters looking forward 50.000000 meters along route # Maximum depth: 2584.498192 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2507.581294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855392; longitude = -125.598789; captureRadius = 10; duration = 217; initialDepth = 2498.752366; finalDepth = 2507.581294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9168979999999 # Actual altitude: 76.9168979999999 # Commanded vehicle depth: 2507.581294 # Seafloor depth: -2584.498192 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 307.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.316550 meters # Minimum depth: 2573.752366 meters looking forward 50.000000 meters along route # Maximum depth: 2582.068586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2498.752366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856293; longitude = -125.598315; captureRadius = 10; duration = 202; initialDepth = 2498.712463; finalDepth = 2498.752366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 83.3162199999997 # Actual altitude: 83.3162199999997 # Commanded vehicle depth: 2498.752366 # Seafloor depth: -2582.068586 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 333.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 171.440694 meters # Minimum depth: 2573.712463 meters looking forward 50.000000 meters along route # Maximum depth: 2586.442612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2498.712463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857134; longitude = -125.597874; captureRadius = 10; duration = 342; # abortOnTimeout = True; initialDepth = 2510.671307; finalDepth = 2498.712463; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3162199999997 # Actual altitude: 83.3162199999997 # Commanded vehicle depth: 2498.712463 # Seafloor depth: -2573.712463 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 333.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.338502 meters # Minimum depth: 2585.671307 meters looking forward 50.000000 meters along route # Maximum depth: 2585.947670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.671307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858366; longitude = -125.596714; captureRadius = 10; duration = 200; initialDepth = 2510.980649; finalDepth = 2510.671307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2763629999999 # Actual altitude: 75.2763629999999 # Commanded vehicle depth: 2510.671307 # Seafloor depth: -2585.947670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 104.021820 meters # Minimum depth: 2585.980649 meters looking forward 50.000000 meters along route # Maximum depth: 2589.465455 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.980649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859087; longitude = -125.596036; captureRadius = 10; duration = 208; initialDepth = 2514.710571; finalDepth = 2510.980649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.2763629999999 # Actual altitude: 75.2763629999999 # Commanded vehicle depth: 2510.980649 # Seafloor depth: -2585.980649 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 130.039125 meters # Minimum depth: 2589.710571 meters looking forward 50.000000 meters along route # Maximum depth: 2593.768067 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2514.710571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859834; longitude = -125.595332; captureRadius = 10; duration = 260; # abortOnTimeout = True; initialDepth = 2516.450912; finalDepth = 2514.710571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2514.710571 # Seafloor depth: -2589.710571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 111.527987 meters # Minimum depth: 2591.450912 meters looking forward 50.000000 meters along route # Maximum depth: 2593.111268 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2516.450912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860464; longitude = -125.594103; captureRadius = 10; duration = 223; initialDepth = 2518.431519; finalDepth = 2516.450912; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.2895620000004 # Actual altitude: 76.2895620000004 # Commanded vehicle depth: 2516.450912 # Seafloor depth: -2592.740474 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 154.705196 meters # Minimum depth: 2593.431519 meters looking forward 50.000000 meters along route # Maximum depth: 2600.837084 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2518.431519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861004; longitude = -125.593049; captureRadius = 10; duration = 309; # abortOnTimeout = True; initialDepth = 2525.199680; finalDepth = 2518.431519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2895620000004 # Actual altitude: 76.2895620000004 # Commanded vehicle depth: 2518.431519 # Seafloor depth: -2593.431519 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.89; MB_Bottom_Detect_Filter_Max_Range = 305.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 106.065682 meters # Minimum depth: 2600.199680 meters looking forward 50.000000 meters along route # Maximum depth: 2604.441948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2525.199680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861473; longitude = -125.591415; captureRadius = 10; duration = 212; initialDepth = 2529.502466; finalDepth = 2525.199680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2525.19968 # Seafloor depth: -2600.199680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 106.058470 meters # Minimum depth: 2604.502466 meters looking forward 50.000000 meters along route # Maximum depth: 2605.498319 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2529.502466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861794; longitude = -125.590295; captureRadius = 10; duration = 212; initialDepth = 2530.357483; finalDepth = 2529.502466; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2529.502466 # Seafloor depth: -2604.502466 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 141.335711 meters # Minimum depth: 2605.357483 meters looking forward 50.000000 meters along route # Maximum depth: 2608.500843 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2530.357483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862115; longitude = -125.589175; captureRadius = 10; duration = 282; # abortOnTimeout = True; initialDepth = 2533.442452; finalDepth = 2530.357483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2530.357483 # Seafloor depth: -2605.357483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.453329 meters # Minimum depth: 2608.442452 meters looking forward 50.000000 meters along route # Maximum depth: 2626.353156 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2533.442452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861931; longitude = -125.587608; captureRadius = 10; duration = 200; initialDepth = 2552.352722; finalDepth = 2533.442452; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2533.442452 # Seafloor depth: -2608.442452 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 135.784782 meters # Minimum depth: 2627.352722 meters looking forward 50.000000 meters along route # Maximum depth: 2631.309844 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2552.352722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861800; longitude = -125.586493; captureRadius = 10; duration = 271; # abortOnTimeout = True; initialDepth = 2554.025433; finalDepth = 2552.352722; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2552.352722 # Seafloor depth: -2627.352722 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 112.242321 meters # Minimum depth: 2629.025433 meters looking forward 50.000000 meters along route # Maximum depth: 2631.322112 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2554.025433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862782; longitude = -125.585584; captureRadius = 10; duration = 224; initialDepth = 2555.036827; finalDepth = 2554.025433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.296679 # Actual altitude: 77.296679 # Commanded vehicle depth: 2554.025433 # Seafloor depth: -2631.322112 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 103.521630 meters # Minimum depth: 2630.036827 meters looking forward 50.000000 meters along route # Maximum depth: 2631.009004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2555.036827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863593; longitude = -125.584833; captureRadius = 10; duration = 207; initialDepth = 2550.768766; finalDepth = 2555.036827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 77.296679 # Actual altitude: 77.296679 # Commanded vehicle depth: 2555.036827 # Seafloor depth: -2630.036827 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 79.773748 meters # Minimum depth: 2625.768766 meters looking forward 50.000000 meters along route # Maximum depth: 2630.547913 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2550.768766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864341; longitude = -125.584139; captureRadius = 10; duration = 159; # abortOnTimeout = True; initialDepth = 2545.068490; finalDepth = 2550.768766; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7791469999997 # Actual altitude: 79.7791469999997 # Commanded vehicle depth: 2550.768766 # Seafloor depth: -2630.547913 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 319.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 104.014199 meters # Minimum depth: 2620.068490 meters looking forward 50.000000 meters along route # Maximum depth: 2625.215093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2545.068490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864389; longitude = -125.585032; captureRadius = 10; duration = 208; initialDepth = 2542.054910; finalDepth = 2545.068490; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.1466029999997 # Actual altitude: 80.1466029999997 # Commanded vehicle depth: 2545.06849 # Seafloor depth: -2625.215093 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 86.283919 meters # Minimum depth: 2617.054910 meters looking forward 50.000000 meters along route # Maximum depth: 2619.828186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2542.054910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864452; longitude = -125.586195; captureRadius = 10; duration = 172; # abortOnTimeout = True; initialDepth = 2538.032702; finalDepth = 2542.054910; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1466029999997 # Actual altitude: 80.1466029999997 # Commanded vehicle depth: 2542.05491 # Seafloor depth: -2619.828186 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.213344 meters # Minimum depth: 2613.032702 meters looking forward 50.000000 meters along route # Maximum depth: 2616.932972 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.032702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864514; longitude = -125.587160; captureRadius = 10; duration = 200; initialDepth = 2535.548037; finalDepth = 2538.032702; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9002700000001 # Actual altitude: 78.9002700000001 # Commanded vehicle depth: 2538.032702 # Seafloor depth: -2616.932972 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 101.728962 meters # Minimum depth: 2610.548037 meters looking forward 50.000000 meters along route # Maximum depth: 2612.888900 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2535.548037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864587; longitude = -125.588279; captureRadius = 10; duration = 203; initialDepth = 2521.940315; finalDepth = 2535.548037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.9002700000001 # Actual altitude: 78.9002700000001 # Commanded vehicle depth: 2535.548037 # Seafloor depth: -2612.888900 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 168.300865 meters # Minimum depth: 2596.940315 meters looking forward 50.000000 meters along route # Maximum depth: 2610.228455 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2521.940315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864661; longitude = -125.589416; captureRadius = 10; duration = 336; # abortOnTimeout = True; initialDepth = 2508.364215; finalDepth = 2521.940315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.2881400000001 # Actual altitude: 88.2881400000001 # Commanded vehicle depth: 2521.940315 # Seafloor depth: -2610.228455 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 109.878179 meters # Minimum depth: 2583.364215 meters looking forward 50.000000 meters along route # Maximum depth: 2596.255074 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2508.364215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864674; longitude = -125.591303; captureRadius = 10; duration = 219; initialDepth = 2503.143699; finalDepth = 2508.364215; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.2881400000001 # Actual altitude: 88.2881400000001 # Commanded vehicle depth: 2508.364215 # Seafloor depth: -2596.255074 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 108.732711 meters # Minimum depth: 2578.143699 meters looking forward 50.000000 meters along route # Maximum depth: 2582.008573 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.143699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864683; longitude = -125.592535; captureRadius = 10; duration = 217; initialDepth = 2502.692704; finalDepth = 2503.143699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.8908590000001 # Actual altitude: 87.8908590000001 # Commanded vehicle depth: 2503.143699 # Seafloor depth: -2582.008573 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 85 # Segment length 111.209545 meters # Minimum depth: 2577.692704 meters looking forward 50.000000 meters along route # Maximum depth: 2578.593811 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.692704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864691; longitude = -125.593754; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 2502.974044; finalDepth = 2502.692704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.8648739999999 # Actual altitude: 78.8648739999999 # Commanded vehicle depth: 2502.692704 # Seafloor depth: -2578.593811 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 315.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 109.849878 meters # Minimum depth: 2577.974044 meters looking forward 50.000000 meters along route # Maximum depth: 2580.366177 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.974044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864633; longitude = -125.594999; captureRadius = 10; duration = 219; initialDepth = 2498.366628; finalDepth = 2502.974044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.9011070000001 # Actual altitude: 75.9011070000001 # Commanded vehicle depth: 2502.974044 # Seafloor depth: -2577.974044 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 303.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.77; MB_Bottom_Detect_Filter_Max_Range = 303.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 303.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 147.485232 meters # Minimum depth: 2573.366628 meters looking forward 50.000000 meters along route # Maximum depth: 2579.377319 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2498.366628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864575; longitude = -125.596228; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 2497.079435; finalDepth = 2498.366628; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.010691 # Actual altitude: 81.010691 # Commanded vehicle depth: 2498.366628 # Seafloor depth: -2579.377319 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 324.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 121.940451 meters # Minimum depth: 2572.079435 meters looking forward 50.000000 meters along route # Maximum depth: 2573.524475 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2497.079435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863829; longitude = -125.597597; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 2494.186378; finalDepth = 2497.079435; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.010691 # Actual altitude: 81.010691 # Commanded vehicle depth: 2497.079435 # Seafloor depth: -2573.524475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 324.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 103.126416 meters # Minimum depth: 2569.186378 meters looking forward 50.000000 meters along route # Maximum depth: 2571.663119 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2494.186378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862984; longitude = -125.598470; captureRadius = 10; duration = 206; initialDepth = 2490.460488; finalDepth = 2494.186378; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.4767409999999 # Actual altitude: 77.4767409999999 # Commanded vehicle depth: 2494.186378 # Seafloor depth: -2571.663119 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 309.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 98.608183 meters # Minimum depth: 2565.460488 meters looking forward 50.000000 meters along route # Maximum depth: 2570.319153 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.460488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862270; longitude = -125.599209; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 2490.368362; finalDepth = 2490.460488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8586649999997 # Actual altitude: 79.8586649999997 # Commanded vehicle depth: 2490.460488 # Seafloor depth: -2570.319153 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 319.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 101.241432 meters # Minimum depth: 2565.368362 meters looking forward 50.000000 meters along route # Maximum depth: 2567.671894 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.368362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861610; longitude = -125.599950; captureRadius = 10; duration = 202; initialDepth = 2489.887359; finalDepth = 2490.368362; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8586649999997 # Actual altitude: 79.8586649999997 # Commanded vehicle depth: 2490.368362 # Seafloor depth: -2565.368362 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 319.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 105.387372 meters # Minimum depth: 2564.887359 meters looking forward 50.000000 meters along route # Maximum depth: 2567.663924 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2489.887359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860933; longitude = -125.600710; captureRadius = 10; duration = 210; initialDepth = 2489.819763; finalDepth = 2489.887359; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.7765650000001 # Actual altitude: 77.7765650000001 # Commanded vehicle depth: 2489.887359 # Seafloor depth: -2567.663924 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 116.496067 meters # Minimum depth: 2564.819763 meters looking forward 50.000000 meters along route # Maximum depth: 2565.622894 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2489.819763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860228; longitude = -125.601502; captureRadius = 10; duration = 232; # abortOnTimeout = True; initialDepth = 2486.439532; finalDepth = 2489.819763; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7765650000001 # Actual altitude: 77.7765650000001 # Commanded vehicle depth: 2489.819763 # Seafloor depth: -2564.819763 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 311.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 105.668125 meters # Minimum depth: 2561.439532 meters looking forward 50.000000 meters along route # Maximum depth: 2564.635065 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.439532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859267; longitude = -125.602026; captureRadius = 10; duration = 211; initialDepth = 2487.222273; finalDepth = 2486.439532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1955330000001 # Actual altitude: 78.1955330000001 # Commanded vehicle depth: 2486.439532 # Seafloor depth: -2564.635065 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 101.867954 meters # Minimum depth: 2562.222273 meters looking forward 50.000000 meters along route # Maximum depth: 2564.472982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.222273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858395; longitude = -125.602502; captureRadius = 10; duration = 203; initialDepth = 2487.761639; finalDepth = 2487.222273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1955330000001 # Actual altitude: 78.1955330000001 # Commanded vehicle depth: 2487.222273 # Seafloor depth: -2562.222273 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 109.229836 meters # Minimum depth: 2562.761639 meters looking forward 50.000000 meters along route # Maximum depth: 2564.431061 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.761639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857555; longitude = -125.602961; captureRadius = 10; duration = 218; initialDepth = 2487.041759; finalDepth = 2487.761639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6694220000004 # Actual altitude: 76.6694220000004 # Commanded vehicle depth: 2487.761639 # Seafloor depth: -2564.431061 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 101.086095 meters # Minimum depth: 2562.041759 meters looking forward 50.000000 meters along route # Maximum depth: 2562.728756 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.041759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856654; longitude = -125.603453; captureRadius = 10; duration = 202; initialDepth = 2485.478645; finalDepth = 2487.041759; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.6694220000004 # Actual altitude: 76.6694220000004 # Commanded vehicle depth: 2487.041759 # Seafloor depth: -2562.728756 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 124.635139 meters # Minimum depth: 2560.478645 meters looking forward 50.000000 meters along route # Maximum depth: 2562.142090 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2485.478645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855820; longitude = -125.603908; captureRadius = 10; duration = 249; # abortOnTimeout = True; initialDepth = 2483.588087; finalDepth = 2485.478645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6634449999997 # Actual altitude: 76.6634449999997 # Commanded vehicle depth: 2485.478645 # Seafloor depth: -2562.142090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 306.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 103.560910 meters # Minimum depth: 2558.588087 meters looking forward 50.000000 meters along route # Maximum depth: 2560.524179 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.588087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854741; longitude = -125.604294; captureRadius = 10; duration = 207; initialDepth = 2484.146603; finalDepth = 2483.588087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.9360919999999 # Actual altitude: 76.9360919999999 # Commanded vehicle depth: 2483.588087 # Seafloor depth: -2560.524179 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 307.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 108.454140 meters # Minimum depth: 2559.146603 meters looking forward 50.000000 meters along route # Maximum depth: 2561.666197 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2484.146603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853844; longitude = -125.604615; captureRadius = 10; duration = 216; # abortOnTimeout = True; initialDepth = 2487.779087; finalDepth = 2484.146603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9360919999999 # Actual altitude: 76.9360919999999 # Commanded vehicle depth: 2484.146603 # Seafloor depth: -2559.347778 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.08; MB_Bottom_Detect_Filter_Max_Range = 307.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 109.154623 meters # Minimum depth: 2562.779087 meters looking forward 50.000000 meters along route # Maximum depth: 2564.854190 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2487.779087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852869; longitude = -125.604543; captureRadius = 10; duration = 218; initialDepth = 2489.446102; finalDepth = 2487.779087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.2011749999997 # Actual altitude: 75.2011749999997 # Commanded vehicle depth: 2487.779087 # Seafloor depth: -2562.779087 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 102.127491 meters # Minimum depth: 2564.446102 meters looking forward 50.000000 meters along route # Maximum depth: 2567.568308 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2489.446102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851887; longitude = -125.604471; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 2493.691937; finalDepth = 2489.446102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5347940000001 # Actual altitude: 75.5347940000001 # Commanded vehicle depth: 2489.446102 # Seafloor depth: -2564.980896 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 109.849036 meters # Minimum depth: 2568.691937 meters looking forward 50.000000 meters along route # Maximum depth: 2573.772365 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2493.691937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850976; longitude = -125.604310; captureRadius = 10; duration = 219; initialDepth = 2498.806152; finalDepth = 2493.691937; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.5347940000001 # Actual altitude: 75.5347940000001 # Commanded vehicle depth: 2493.691937 # Seafloor depth: -2568.691937 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 133.329514 meters # Minimum depth: 2573.806152 meters looking forward 50.000000 meters along route # Maximum depth: 2579.542037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2498.806152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849997; longitude = -125.604136; captureRadius = 10; duration = 266; # abortOnTimeout = True; initialDepth = 2505.038048; finalDepth = 2498.806152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2498.806152 # Seafloor depth: -2573.806152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 102.343609 meters # Minimum depth: 2580.038048 meters looking forward 50.000000 meters along route # Maximum depth: 2581.314149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.038048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848994; longitude = -125.603313; captureRadius = 10; duration = 204; initialDepth = 2506.526794; finalDepth = 2505.038048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2505.038048 # Seafloor depth: -2580.038048 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 166.549130 meters # Minimum depth: 2581.526794 meters looking forward 50.000000 meters along route # Maximum depth: 2586.337075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2506.526794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848224; longitude = -125.602682; captureRadius = 10; duration = 333; # abortOnTimeout = True; initialDepth = 2509.865954; finalDepth = 2506.526794; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2506.526794 # Seafloor depth: -2581.526794 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 101.582326 meters # Minimum depth: 2584.865954 meters looking forward 50.000000 meters along route # Maximum depth: 2586.342166 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.865954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847011; longitude = -125.601583; captureRadius = 10; duration = 203; initialDepth = 2511.553894; finalDepth = 2509.865954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 76.476212 # Actual altitude: 76.476212 # Commanded vehicle depth: 2509.865954 # Seafloor depth: -2586.342166 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.90; 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 75 # Segment length 150.000666 meters # Minimum depth: 2586.553894 meters looking forward 50.000000 meters along route # Maximum depth: 2590.802254 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.553894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846271; longitude = -125.600912; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 2515.860386; finalDepth = 2511.553894; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.476212 # Actual altitude: 76.476212 # Commanded vehicle depth: 2511.553894 # Seafloor depth: -2586.553894 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 305.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 101.407708 meters # Minimum depth: 2590.860386 meters looking forward 50.000000 meters along route # Maximum depth: 2591.316849 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2515.860386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844938; longitude = -125.600637; captureRadius = 10; duration = 202; initialDepth = 2516.476336; finalDepth = 2515.860386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2515.860386 # Seafloor depth: -2590.860386 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 101.407716 meters # Minimum depth: 2591.476336 meters looking forward 50.000000 meters along route # Maximum depth: 2593.032435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2516.476336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844037; longitude = -125.600450; captureRadius = 10; duration = 202; initialDepth = 2510.894574; finalDepth = 2516.476336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2516.476336 # Seafloor depth: -2591.476336 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 100.273523 meters # Minimum depth: 2585.894574 meters looking forward 50.000000 meters along route # Maximum depth: 2591.039125 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.894574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843136; longitude = -125.600264; captureRadius = 10; duration = 200; initialDepth = 2510.612915; finalDepth = 2510.894574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 80.1445509999999 # Actual altitude: 80.1445509999999 # Commanded vehicle depth: 2510.894574 # Seafloor depth: -2591.039125 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 155.358936 meters # Minimum depth: 2585.612915 meters looking forward 50.000000 meters along route # Maximum depth: 2587.366758 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.612915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842245; longitude = -125.600079; captureRadius = 10; duration = 310; # abortOnTimeout = True; initialDepth = 2510.614112; finalDepth = 2510.612915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1445509999999 # Actual altitude: 80.1445509999999 # Commanded vehicle depth: 2510.612915 # Seafloor depth: -2585.612915 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 104.546606 meters # Minimum depth: 2585.614112 meters looking forward 50.000000 meters along route # Maximum depth: 2587.444075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.614112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843316; longitude = -125.601200; captureRadius = 10; duration = 209; initialDepth = 2507.419996; finalDepth = 2510.614112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8299629999997 # Actual altitude: 76.8299629999997 # Commanded vehicle depth: 2510.614112 # Seafloor depth: -2587.444075 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 106.192015 meters # Minimum depth: 2582.419996 meters looking forward 50.000000 meters along route # Maximum depth: 2585.582533 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2507.419996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844037; longitude = -125.601954; captureRadius = 10; duration = 212; initialDepth = 2505.183227; finalDepth = 2507.419996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.1625369999997 # Actual altitude: 78.1625369999997 # Commanded vehicle depth: 2507.419996 # Seafloor depth: -2585.582533 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 312.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 112.569709 meters # Minimum depth: 2580.183227 meters looking forward 50.000000 meters along route # Maximum depth: 2582.463379 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.183227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844770; longitude = -125.602720; captureRadius = 10; duration = 225; # abortOnTimeout = True; initialDepth = 2502.743975; finalDepth = 2505.183227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1625369999997 # Actual altitude: 78.1625369999997 # Commanded vehicle depth: 2505.183227 # Seafloor depth: -2582.463379 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 312.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 101.481660 meters # Minimum depth: 2577.743975 meters looking forward 50.000000 meters along route # Maximum depth: 2579.738145 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.743975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845569; longitude = -125.603496; captureRadius = 10; duration = 202; initialDepth = 2499.200179; finalDepth = 2502.743975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2801519999998 # Actual altitude: 77.2801519999998 # Commanded vehicle depth: 2502.743975 # Seafloor depth: -2579.738145 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.18; MB_Bottom_Detect_Filter_Max_Range = 309.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 111.863886 meters # Minimum depth: 2574.200179 meters looking forward 50.000000 meters along route # Maximum depth: 2577.698820 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.200179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846290; longitude = -125.604195; captureRadius = 10; duration = 223; initialDepth = 2494.890906; finalDepth = 2499.200179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.4986410000001 # Actual altitude: 78.4986410000001 # Commanded vehicle depth: 2499.200179 # Seafloor depth: -2577.698820 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 107.326890 meters # Minimum depth: 2569.890906 meters looking forward 50.000000 meters along route # Maximum depth: 2573.930237 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2494.890906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847085; longitude = -125.604966; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 2479.545843; finalDepth = 2494.890906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0393309999999 # Actual altitude: 79.0393309999999 # Commanded vehicle depth: 2494.890906 # Seafloor depth: -2573.930237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 316.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 105.204768 meters # Minimum depth: 2554.545843 meters looking forward 50.000000 meters along route # Maximum depth: 2569.209572 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2479.545843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847912; longitude = -125.605589; captureRadius = 10; duration = 210; initialDepth = 2465.467192; finalDepth = 2479.545843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.6637290000003 # Actual altitude: 89.6637290000003 # Commanded vehicle depth: 2479.545843 # Seafloor depth: -2569.209572 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 109.057869 meters # Minimum depth: 2540.467192 meters looking forward 50.000000 meters along route # Maximum depth: 2554.530612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2465.467192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848723; longitude = -125.606199; captureRadius = 10; duration = 218; initialDepth = 2455.912741; finalDepth = 2465.467192; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 89.6637290000003 # Actual altitude: 89.6637290000003 # Commanded vehicle depth: 2465.467192 # Seafloor depth: -2554.530612 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 147.248563 meters # Minimum depth: 2530.912741 meters looking forward 50.000000 meters along route # Maximum depth: 2539.867615 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2455.912741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849564; longitude = -125.606831; captureRadius = 10; duration = 294; # abortOnTimeout = True; initialDepth = 2457.069457; finalDepth = 2455.912741; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.06342 # Actual altitude: 89.06342 # Commanded vehicle depth: 2455.912741 # Seafloor depth: -2539.867615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 105.152368 meters # Minimum depth: 2532.069457 meters looking forward 50.000000 meters along route # Maximum depth: 2533.049897 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2457.069457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850886; longitude = -125.606966; captureRadius = 10; duration = 210; initialDepth = 2448.478429; finalDepth = 2457.069457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 83.954874 # Actual altitude: 83.954874 # Commanded vehicle depth: 2457.069457 # Seafloor depth: -2532.069457 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 335.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 165.304179 meters # Minimum depth: 2523.478429 meters looking forward 50.000000 meters along route # Maximum depth: 2532.496582 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2448.478429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851830; longitude = -125.607063; captureRadius = 10; duration = 330; # abortOnTimeout = True; initialDepth = 2448.672929; finalDepth = 2448.478429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.0181530000004 # Actual altitude: 84.0181530000004 # Commanded vehicle depth: 2448.478429 # Seafloor depth: -2532.496582 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 336.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 336.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.729852 meters # Minimum depth: 2523.672929 meters looking forward 50.000000 meters along route # Maximum depth: 2529.478795 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2448.672929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853319; longitude = -125.607041; captureRadius = 10; duration = 201; initialDepth = 2453.699280; finalDepth = 2448.672929; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.0181530000004 # Actual altitude: 84.0181530000004 # Commanded vehicle depth: 2448.672929 # Seafloor depth: -2523.672929 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 336.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 336.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 336.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 83.099704 meters # Minimum depth: 2528.699280 meters looking forward 50.000000 meters along route # Maximum depth: 2533.983455 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2453.699280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854227; longitude = -125.607028; captureRadius = 10; duration = 166; # abortOnTimeout = True; initialDepth = 2459.157558; finalDepth = 2453.699280; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2453.69928 # Seafloor depth: -2528.699280 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 104.776670 meters # Minimum depth: 2534.157558 meters looking forward 50.000000 meters along route # Maximum depth: 2546.432512 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2459.157558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854941; longitude = -125.606751; captureRadius = 10; duration = 209; initialDepth = 2471.782498; finalDepth = 2459.157558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2459.157558 # Seafloor depth: -2534.157558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 100.349847 meters # Minimum depth: 2546.782498 meters looking forward 50.000000 meters along route # Maximum depth: 2550.131727 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2471.782498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855843; longitude = -125.606402; captureRadius = 10; duration = 200; initialDepth = 2476.112244; finalDepth = 2471.782498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2471.782498 # Seafloor depth: -2546.782498 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 160.879184 meters # Minimum depth: 2551.112244 meters looking forward 50.000000 meters along route # Maximum depth: 2554.916668 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2476.112244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856706; longitude = -125.606067; captureRadius = 10; duration = 321; # abortOnTimeout = True; initialDepth = 2480.145194; finalDepth = 2476.112244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2476.112244 # Seafloor depth: -2551.112244 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 100.392401 meters # Minimum depth: 2555.145194 meters looking forward 50.000000 meters along route # Maximum depth: 2556.334348 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.145194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858005; longitude = -125.605269; captureRadius = 10; duration = 200; initialDepth = 2480.156609; finalDepth = 2480.145194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2480.145194 # Seafloor depth: -2555.145194 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 100.392178 meters # Minimum depth: 2555.156609 meters looking forward 50.000000 meters along route # Maximum depth: 2556.287603 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.156609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858816; longitude = -125.604771; captureRadius = 10; duration = 200; initialDepth = 2478.459917; finalDepth = 2480.156609; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2480.156609 # Seafloor depth: -2555.156609 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 100.391954 meters # Minimum depth: 2553.459917 meters looking forward 50.000000 meters along route # Maximum depth: 2555.443338 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2478.459917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859628; longitude = -125.604273; captureRadius = 10; duration = 200; initialDepth = 2480.459028; finalDepth = 2478.459917; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9834209999999 # Actual altitude: 76.9834209999999 # Commanded vehicle depth: 2478.459917 # Seafloor depth: -2555.443338 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 307.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 100.076329 meters # Minimum depth: 2555.459028 meters looking forward 50.000000 meters along route # Maximum depth: 2558.025164 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.459028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860439; longitude = -125.603775; captureRadius = 10; duration = 200; initialDepth = 2483.175537; finalDepth = 2480.459028; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.9834209999999 # Actual altitude: 76.9834209999999 # Commanded vehicle depth: 2480.459028 # Seafloor depth: -2555.459028 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 307.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 117.253457 meters # Minimum depth: 2558.175537 meters looking forward 50.000000 meters along route # Maximum depth: 2561.324893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2483.175537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861247; longitude = -125.603279; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 2486.586893; finalDepth = 2483.175537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2483.175537 # Seafloor depth: -2558.175537 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 103.898418 meters # Minimum depth: 2561.586893 meters looking forward 50.000000 meters along route # Maximum depth: 2564.934386 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.586893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862061; longitude = -125.602440; captureRadius = 10; duration = 207; initialDepth = 2490.140615; finalDepth = 2486.586893; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2486.586893 # Seafloor depth: -2561.586893 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 109.140716 meters # Minimum depth: 2565.140615 meters looking forward 50.000000 meters along route # Maximum depth: 2571.792958 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2490.140615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862782; longitude = -125.601698; captureRadius = 10; duration = 218; initialDepth = 2496.758484; finalDepth = 2490.140615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2490.140615 # Seafloor depth: -2565.140615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 140.865241 meters # Minimum depth: 2571.758484 meters looking forward 50.000000 meters along route # Maximum depth: 2577.567855 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2496.758484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863539; longitude = -125.600917; captureRadius = 10; duration = 281; # abortOnTimeout = True; initialDepth = 2503.270312; finalDepth = 2496.758484; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2496.758484 # Seafloor depth: -2571.758484 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 108.327830 meters # Minimum depth: 2578.270312 meters looking forward 50.000000 meters along route # Maximum depth: 2584.674612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2503.270312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864494; longitude = -125.599877; captureRadius = 10; duration = 216; initialDepth = 2509.852783; finalDepth = 2503.270312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2503.270312 # Seafloor depth: -2578.270312 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 89.233797 meters # Minimum depth: 2584.852783 meters looking forward 50.000000 meters along route # Maximum depth: 2588.944227 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.852783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865228; longitude = -125.599077; captureRadius = 10; duration = 178; # abortOnTimeout = True; initialDepth = 2513.972493; finalDepth = 2509.852783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2509.852783 # Seafloor depth: -2584.852783 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 110.944024 meters # Minimum depth: 2588.972493 meters looking forward 50.000000 meters along route # Maximum depth: 2590.151612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2513.972493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865676; longitude = -125.598247; captureRadius = 10; duration = 221; initialDepth = 2514.707703; finalDepth = 2513.972493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2513.972493 # Seafloor depth: -2588.972493 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 97.930213 meters # Minimum depth: 2589.707703 meters looking forward 50.000000 meters along route # Maximum depth: 2592.149841 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2514.707703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866233; longitude = -125.597214; captureRadius = 10; duration = 195; # abortOnTimeout = True; initialDepth = 2517.179031; finalDepth = 2514.707703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2514.707703 # Seafloor depth: -2589.707703 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.147540 meters # Minimum depth: 2592.179031 meters looking forward 50.000000 meters along route # Maximum depth: 2594.624763 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2517.179031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866297; longitude = -125.596119; captureRadius = 10; duration = 200; initialDepth = 2510.567306; finalDepth = 2517.179031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2517.179031 # Seafloor depth: -2592.179031 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 106.044336 meters # Minimum depth: 2585.567306 meters looking forward 50.000000 meters along route # Maximum depth: 2593.569129 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.567306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866363; longitude = -125.594999; captureRadius = 10; duration = 212; initialDepth = 2510.234680; finalDepth = 2510.567306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 83.0018230000001 # Actual altitude: 83.0018230000001 # Commanded vehicle depth: 2510.567306 # Seafloor depth: -2593.569129 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 332.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 332.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 163.920335 meters # Minimum depth: 2585.234680 meters looking forward 50.000000 meters along route # Maximum depth: 2587.225172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.234680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866432; longitude = -125.593813; captureRadius = 10; duration = 327; # abortOnTimeout = True; initialDepth = 2512.617500; finalDepth = 2510.234680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0018230000001 # Actual altitude: 83.0018230000001 # Commanded vehicle depth: 2510.23468 # Seafloor depth: -2585.234680 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 332.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 332.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 109.871624 meters # Minimum depth: 2587.617500 meters looking forward 50.000000 meters along route # Maximum depth: 2594.179327 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2512.617500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866432; longitude = -125.591975; captureRadius = 10; duration = 219; initialDepth = 2520.429163; finalDepth = 2512.617500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2512.6175 # Seafloor depth: -2587.617500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 102.658674 meters # Minimum depth: 2595.429163 meters looking forward 50.000000 meters along route # Maximum depth: 2602.171789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2520.429163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866431; longitude = -125.590743; captureRadius = 10; duration = 205; initialDepth = 2526.933838; finalDepth = 2520.429163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2520.429163 # Seafloor depth: -2595.429163 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 107.460196 meters # Minimum depth: 2601.933838 meters looking forward 50.000000 meters along route # Maximum depth: 2608.096175 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2526.933838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866431; longitude = -125.589592; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 2533.640411; finalDepth = 2526.933838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2526.933838 # Seafloor depth: -2601.933838 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.222832 meters # Minimum depth: 2608.640411 meters looking forward 50.000000 meters along route # Maximum depth: 2616.049726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2533.640411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866351; longitude = -125.588391; captureRadius = 10; duration = 200; initialDepth = 2538.650713; finalDepth = 2533.640411; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2533.640411 # Seafloor depth: -2608.640411 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 108.373689 meters # Minimum depth: 2613.650713 meters looking forward 50.000000 meters along route # Maximum depth: 2618.111211 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.650713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866277; longitude = -125.587272; captureRadius = 10; duration = 216; initialDepth = 2543.992432; finalDepth = 2538.650713; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.1757550000002 # Actual altitude: 77.1757550000002 # Commanded vehicle depth: 2538.650713 # Seafloor depth: -2615.826468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 308.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 103.164941 meters # Minimum depth: 2618.992432 meters looking forward 50.000000 meters along route # Maximum depth: 2622.876460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2543.992432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866197; longitude = -125.586061; captureRadius = 10; duration = 206; # abortOnTimeout = True; initialDepth = 2549.301088; finalDepth = 2543.992432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1757550000002 # Actual altitude: 77.1757550000002 # Commanded vehicle depth: 2543.992432 # Seafloor depth: -2618.992432 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.15; MB_Bottom_Detect_Filter_Max_Range = 308.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 101.273981 meters # Minimum depth: 2624.301088 meters looking forward 50.000000 meters along route # Maximum depth: 2632.923677 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2549.301088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866043; longitude = -125.584920; captureRadius = 10; duration = 202; initialDepth = 2558.926549; finalDepth = 2549.301088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2549.301088 # Seafloor depth: -2624.301088 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.597500 meters # Minimum depth: 2633.926549 meters looking forward 50.000000 meters along route # Maximum depth: 2643.027744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2558.926549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865893; longitude = -125.583800; captureRadius = 10; duration = 203; initialDepth = 2562.294872; finalDepth = 2558.926549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2558.926549 # Seafloor depth: -2633.926549 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 164.703652 meters # Minimum depth: 2637.294872 meters looking forward 50.000000 meters along route # Maximum depth: 2643.280457 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2562.294872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865741; longitude = -125.582676; captureRadius = 10; duration = 329; # abortOnTimeout = True; initialDepth = 2528.801103; finalDepth = 2562.294872; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 80.9855849999999 # Actual altitude: 80.9855849999999 # Commanded vehicle depth: 2562.294872 # Seafloor depth: -2643.280457 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 323.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 163.866217 meters # Minimum depth: 2603.801103 meters looking forward 50.000000 meters along route # Maximum depth: 2636.501953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2528.801103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867007; longitude = -125.581712; captureRadius = 10; duration = 327; # abortOnTimeout = True; initialDepth = 2523.519906; finalDepth = 2528.801103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.70085 # Actual altitude: 100 # Commanded vehicle depth: 2528.801103 # Seafloor depth: -2636.501953 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 59 # Segment length 100.718241 meters # Minimum depth: 2598.519906 meters looking forward 50.000000 meters along route # Maximum depth: 2603.823520 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2523.519906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867378; longitude = -125.583491; captureRadius = 10; duration = 201; initialDepth = 2523.779278; finalDepth = 2523.519906; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 107.70085 # Actual altitude: 100 # Commanded vehicle depth: 2523.519906 # Seafloor depth: -2603.823520 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 59 # Segment length 109.101506 meters # Minimum depth: 2598.779278 meters looking forward 50.000000 meters along route # Maximum depth: 2615.701225 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2523.779278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867605; longitude = -125.584584; captureRadius = 10; duration = 218; initialDepth = 2540.097753; finalDepth = 2523.779278; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.3036139999999 # Actual altitude: 80.3036139999999 # Commanded vehicle depth: 2523.779278 # Seafloor depth: -2598.779278 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 321.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 144.378994 meters # Minimum depth: 2615.097753 meters looking forward 50.000000 meters along route # Maximum depth: 2620.447169 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2540.097753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867852; longitude = -125.585768; captureRadius = 10; duration = 288; # abortOnTimeout = True; initialDepth = 2515.935990; finalDepth = 2540.097753; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.284815 # Actual altitude: 77.284815 # Commanded vehicle depth: 2540.097753 # Seafloor depth: -2617.382568 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.19; MB_Bottom_Detect_Filter_Max_Range = 309.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.077453 meters # Minimum depth: 2590.935990 meters looking forward 50.000000 meters along route # Maximum depth: 2612.489576 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2515.935990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867934; longitude = -125.587384; captureRadius = 10; duration = 200; initialDepth = 2513.514571; finalDepth = 2515.935990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.553586 # Actual altitude: 96.553586 # Commanded vehicle depth: 2515.93599 # Seafloor depth: -2612.489576 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.175759 meters # Minimum depth: 2588.514571 meters looking forward 50.000000 meters along route # Maximum depth: 2592.378006 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2513.514571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867990; longitude = -125.588503; captureRadius = 10; duration = 204; initialDepth = 2505.864204; finalDepth = 2513.514571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 96.553586 # Actual altitude: 96.553586 # Commanded vehicle depth: 2513.514571 # Seafloor depth: -2592.378006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.97; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 169.309115 meters # Minimum depth: 2580.864204 meters looking forward 50.000000 meters along route # Maximum depth: 2587.884399 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2505.864204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868048; longitude = -125.589647; captureRadius = 10; duration = 338; # abortOnTimeout = True; initialDepth = 2511.768517; finalDepth = 2505.864204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0201950000001 # Actual altitude: 82.0201950000001 # Commanded vehicle depth: 2505.864204 # Seafloor depth: -2587.884399 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.837568 meters # Minimum depth: 2586.768517 meters looking forward 50.000000 meters along route # Maximum depth: 2596.169672 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.768517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867838; longitude = -125.591527; captureRadius = 10; duration = 201; initialDepth = 2523.016521; finalDepth = 2511.768517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0201950000001 # Actual altitude: 82.0201950000001 # Commanded vehicle depth: 2511.768517 # Seafloor depth: -2586.768517 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 328.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 105.003598 meters # Minimum depth: 2598.016521 meters looking forward 50.000000 meters along route # Maximum depth: 2605.409519 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2523.016521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867713; longitude = -125.592647; captureRadius = 10; duration = 210; initialDepth = 2526.891014; finalDepth = 2523.016521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2523.016521 # Seafloor depth: -2598.016521 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 175.717786 meters # Minimum depth: 2601.891014 meters looking forward 50.000000 meters along route # Maximum depth: 2604.557495 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2526.891014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867583; longitude = -125.593813; captureRadius = 10; duration = 351; # abortOnTimeout = True; initialDepth = 2524.270821; finalDepth = 2526.891014; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6664810000002 # Actual altitude: 77.6664810000002 # Commanded vehicle depth: 2526.891014 # Seafloor depth: -2604.557495 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 109.905585 meters # Minimum depth: 2599.270821 meters looking forward 50.000000 meters along route # Maximum depth: 2602.796343 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2524.270821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867624; longitude = -125.595783; captureRadius = 10; duration = 219; initialDepth = 2520.423268; finalDepth = 2524.270821; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6664810000002 # Actual altitude: 77.6664810000002 # Commanded vehicle depth: 2524.270821 # Seafloor depth: -2601.649076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 310.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 310.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 310.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 108.491335 meters # Minimum depth: 2595.423268 meters looking forward 50.000000 meters along route # Maximum depth: 2598.894370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2520.423268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867649; longitude = -125.597015; captureRadius = 10; duration = 216; initialDepth = 2513.146718; finalDepth = 2520.423268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.471102 # Actual altitude: 78.471102 # Commanded vehicle depth: 2520.423268 # Seafloor depth: -2598.894370 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.54; MB_Bottom_Detect_Filter_Max_Range = 313.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 149.724069 meters # Minimum depth: 2588.146718 meters looking forward 50.000000 meters along route # Maximum depth: 2594.882690 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2513.146718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867674; longitude = -125.598231; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 2509.437272; finalDepth = 2513.146718; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7359719999999 # Actual altitude: 81.7359719999999 # Commanded vehicle depth: 2513.146718 # Seafloor depth: -2594.882690 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 326.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 101.161214 meters # Minimum depth: 2584.437272 meters looking forward 50.000000 meters along route # Maximum depth: 2587.868976 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.437272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866882; longitude = -125.599590; captureRadius = 10; duration = 202; initialDepth = 2504.645998; finalDepth = 2509.437272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.7359719999999 # Actual altitude: 81.7359719999999 # Commanded vehicle depth: 2509.437272 # Seafloor depth: -2587.868976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 326.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 176.196973 meters # Minimum depth: 2579.645998 meters looking forward 50.000000 meters along route # Maximum depth: 2584.187988 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2504.645998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866348; longitude = -125.600509; captureRadius = 10; duration = 352; # abortOnTimeout = True; initialDepth = 2500.351692; finalDepth = 2504.645998; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5419900000002 # Actual altitude: 79.5419900000002 # Commanded vehicle depth: 2504.645998 # Seafloor depth: -2584.187988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 102.141845 meters # Minimum depth: 2575.351692 meters looking forward 50.000000 meters along route # Maximum depth: 2581.594725 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2500.351692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865215; longitude = -125.601892; captureRadius = 10; duration = 204; initialDepth = 2493.214615; finalDepth = 2500.351692; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.2430329999997 # Actual altitude: 81.2430329999997 # Commanded vehicle depth: 2500.351692 # Seafloor depth: -2581.594725 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 324.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 324.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 324.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 150.042634 meters # Minimum depth: 2568.214615 meters looking forward 50.000000 meters along route # Maximum depth: 2574.767212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2493.214615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864558; longitude = -125.602694; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 2486.084538; finalDepth = 2493.214615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5525970000003 # Actual altitude: 81.5525970000003 # Commanded vehicle depth: 2493.214615 # Seafloor depth: -2574.767212 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 326.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 102.504549 meters # Minimum depth: 2561.084538 meters looking forward 50.000000 meters along route # Maximum depth: 2568.090270 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.084538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863503; longitude = -125.603745; captureRadius = 10; duration = 205; initialDepth = 2479.236457; finalDepth = 2486.084538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0057320000001 # Actual altitude: 82.0057320000001 # Commanded vehicle depth: 2486.084538 # Seafloor depth: -2568.090270 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 328.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.203083 meters # Minimum depth: 2554.236457 meters looking forward 50.000000 meters along route # Maximum depth: 2560.761794 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2479.236457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862782; longitude = -125.604464; captureRadius = 10; duration = 200; initialDepth = 2474.026247; finalDepth = 2479.236457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.0057320000001 # Actual altitude: 82.0057320000001 # Commanded vehicle depth: 2479.236457 # Seafloor depth: -2560.761794 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 328.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 328.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 161.433659 meters # Minimum depth: 2549.026247 meters looking forward 50.000000 meters along route # Maximum depth: 2553.871155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2474.026247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862077; longitude = -125.605166; captureRadius = 10; duration = 322; # abortOnTimeout = True; initialDepth = 2471.877308; finalDepth = 2474.026247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.525337 # Actual altitude: 81.525337 # Commanded vehicle depth: 2474.026247 # Seafloor depth: -2553.871155 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 102.464295 meters # Minimum depth: 2546.877308 meters looking forward 50.000000 meters along route # Maximum depth: 2548.796985 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2471.877308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860799; longitude = -125.606030; captureRadius = 10; duration = 204; initialDepth = 2465.226217; finalDepth = 2471.877308; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.844908 # Actual altitude: 79.844908 # Commanded vehicle depth: 2471.877308 # Seafloor depth: -2548.796985 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 319.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 319.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 319.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.464562 meters # Minimum depth: 2540.226217 meters looking forward 50.000000 meters along route # Maximum depth: 2546.591036 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2465.226217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859988; longitude = -125.606578; captureRadius = 10; duration = 204; initialDepth = 2459.369523; finalDepth = 2465.226217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3648189999999 # Actual altitude: 81.3648189999999 # Commanded vehicle depth: 2465.226217 # Seafloor depth: -2546.591036 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 102.464828 meters # Minimum depth: 2534.369523 meters looking forward 50.000000 meters along route # Maximum depth: 2539.600158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2459.369523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859177; longitude = -125.607127; captureRadius = 10; duration = 204; initialDepth = 2458.352418; finalDepth = 2459.369523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.3648189999999 # Actual altitude: 81.3648189999999 # Commanded vehicle depth: 2459.369523 # Seafloor depth: -2539.600158 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 325.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 325.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 325.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 109.699325 meters # Minimum depth: 2533.352418 meters looking forward 50.000000 meters along route # Maximum depth: 2534.921693 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2458.352418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858366; longitude = -125.607675; captureRadius = 10; duration = 219; initialDepth = 2447.671799; finalDepth = 2458.352418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.2306350000003 # Actual altitude: 80.2306350000003 # Commanded vehicle depth: 2458.352418 # Seafloor depth: -2534.308094 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 139.837384 meters # Minimum depth: 2522.671799 meters looking forward 50.000000 meters along route # Maximum depth: 2532.782654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2447.671799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857498; longitude = -125.608262; captureRadius = 10; duration = 279; # abortOnTimeout = True; initialDepth = 2447.587025; finalDepth = 2447.671799; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1108549999999 # Actual altitude: 85.1108549999999 # Commanded vehicle depth: 2447.671799 # Seafloor depth: -2532.782654 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 340.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 104.632931 meters # Minimum depth: 2522.587025 meters looking forward 50.000000 meters along route # Maximum depth: 2523.596304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2447.587025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856293; longitude = -125.608722; captureRadius = 10; duration = 209; initialDepth = 2441.064835; finalDepth = 2447.587025; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1108549999999 # Actual altitude: 85.1108549999999 # Commanded vehicle depth: 2447.587025 # Seafloor depth: -2522.789314 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 340.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.611295 meters # Minimum depth: 2516.064835 meters looking forward 50.000000 meters along route # Maximum depth: 2521.859417 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2441.064835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855392; longitude = -125.609066; captureRadius = 10; duration = 203; initialDepth = 2432.920190; finalDepth = 2441.064835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.794582 # Actual altitude: 80.794582 # Commanded vehicle depth: 2441.064835 # Seafloor depth: -2521.859417 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 323.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 92.920507 meters # Minimum depth: 2507.920190 meters looking forward 50.000000 meters along route # Maximum depth: 2516.008728 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2432.920190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854517; longitude = -125.609400; captureRadius = 10; duration = 185; # abortOnTimeout = True; initialDepth = 2432.484919; finalDepth = 2432.920190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.088538 # Actual altitude: 83.088538 # Commanded vehicle depth: 2432.92019 # Seafloor depth: -2516.008728 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 332.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 332.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.035039 meters # Minimum depth: 2507.484919 meters looking forward 50.000000 meters along route # Maximum depth: 2507.849854 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2432.484919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853680; longitude = -125.609395; captureRadius = 10; duration = 200; initialDepth = 2432.164863; finalDepth = 2432.484919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.088538 # Actual altitude: 83.088538 # Commanded vehicle depth: 2432.484919 # Seafloor depth: -2507.667248 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 332.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 332.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 107.479834 meters # Minimum depth: 2507.164863 meters looking forward 50.000000 meters along route # Maximum depth: 2508.868101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2432.164863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852779; longitude = -125.609390; captureRadius = 10; duration = 214; initialDepth = 2433.159420; finalDepth = 2432.164863; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.1823290000002 # Actual altitude: 75.1823290000002 # Commanded vehicle depth: 2432.164863 # Seafloor depth: -2507.164863 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.55; MB_Bottom_Detect_Filter_Max_Range = 300.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 102.631048 meters # Minimum depth: 2508.159420 meters looking forward 50.000000 meters along route # Maximum depth: 2508.837219 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2433.159420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851810; longitude = -125.609385; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 2433.231229; finalDepth = 2433.159420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6777990000001 # Actual altitude: 75.6777990000001 # Commanded vehicle depth: 2433.15942 # Seafloor depth: -2508.837219 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.071408 meters # Minimum depth: 2508.231229 meters looking forward 50.000000 meters along route # Maximum depth: 2510.476046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2433.231229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850886; longitude = -125.609354; captureRadius = 10; duration = 200; initialDepth = 2436.355499; finalDepth = 2433.231229; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6777990000001 # Actual altitude: 75.6777990000001 # Commanded vehicle depth: 2433.231229 # Seafloor depth: -2508.231229 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 104.558307 meters # Minimum depth: 2511.355499 meters looking forward 50.000000 meters along route # Maximum depth: 2524.092063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2436.355499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849985; longitude = -125.609323; captureRadius = 10; duration = 209; initialDepth = 2449.353027; finalDepth = 2436.355499; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2436.355499 # Seafloor depth: -2511.355499 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 87.347502 meters # Minimum depth: 2524.353027 meters looking forward 50.000000 meters along route # Maximum depth: 2527.470824 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2449.353027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849043; longitude = -125.609291; captureRadius = 10; duration = 174; # abortOnTimeout = True; initialDepth = 2453.783696; finalDepth = 2449.353027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2449.353027 # Seafloor depth: -2524.353027 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 104.129548 meters # Minimum depth: 2528.783696 meters looking forward 50.000000 meters along route # Maximum depth: 2539.009380 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2453.783696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848363; longitude = -125.608800; captureRadius = 10; duration = 208; initialDepth = 2464.014579; finalDepth = 2453.783696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2453.783696 # Seafloor depth: -2528.783696 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 104.071909 meters # Minimum depth: 2539.014579 meters looking forward 50.000000 meters along route # Maximum depth: 2548.687078 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2464.014579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847552; longitude = -125.608214; captureRadius = 10; duration = 208; initialDepth = 2474.566598; finalDepth = 2464.014579; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2464.014579 # Seafloor depth: -2539.014579 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 101.488386 meters # Minimum depth: 2549.566598 meters looking forward 50.000000 meters along route # Maximum depth: 2561.633485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2474.566598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846741; longitude = -125.607628; captureRadius = 10; duration = 202; initialDepth = 2486.421326; finalDepth = 2474.566598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2474.566598 # Seafloor depth: -2549.566598 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 162.793794 meters # Minimum depth: 2561.421326 meters looking forward 50.000000 meters along route # Maximum depth: 2572.499914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.421326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845950; longitude = -125.607057; captureRadius = 10; duration = 325; # abortOnTimeout = True; initialDepth = 2497.274020; finalDepth = 2486.421326; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2486.421326 # Seafloor depth: -2561.421326 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.524555 meters # Minimum depth: 2572.274020 meters looking forward 50.000000 meters along route # Maximum depth: 2573.404001 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2497.274020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844848; longitude = -125.605852; captureRadius = 10; duration = 213; initialDepth = 2497.907100; finalDepth = 2497.274020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2497.27402 # Seafloor depth: -2572.274020 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 103.313579 meters # Minimum depth: 2572.907100 meters looking forward 50.000000 meters along route # Maximum depth: 2577.558227 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2497.907100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844127; longitude = -125.605064; captureRadius = 10; duration = 206; initialDepth = 2499.458450; finalDepth = 2497.907100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2497.9071 # Seafloor depth: -2572.907100 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 158.631723 meters # Minimum depth: 2574.458450 meters looking forward 50.000000 meters along route # Maximum depth: 2577.447205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.458450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843428; longitude = -125.604300; captureRadius = 10; duration = 317; # abortOnTimeout = True; initialDepth = 2499.265988; finalDepth = 2499.458450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9887549999999 # Actual altitude: 77.9887549999999 # Commanded vehicle depth: 2499.45845 # Seafloor depth: -2577.447205 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 311.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.003150 meters # Minimum depth: 2574.265988 meters looking forward 50.000000 meters along route # Maximum depth: 2574.790895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.265988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842322; longitude = -125.603174; captureRadius = 10; duration = 206; initialDepth = 2495.963088; finalDepth = 2499.265988; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.9887549999999 # Actual altitude: 77.9887549999999 # Commanded vehicle depth: 2499.265988 # Seafloor depth: -2574.790895 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 311.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.048231 meters # Minimum depth: 2570.963088 meters looking forward 50.000000 meters along route # Maximum depth: 2574.448551 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2495.963088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841604; longitude = -125.602443; captureRadius = 10; duration = 210; initialDepth = 2496.125488; finalDepth = 2495.963088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.485463 # Actual altitude: 78.485463 # Commanded vehicle depth: 2495.963088 # Seafloor depth: -2574.448551 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 177.505009 meters # Minimum depth: 2571.125488 meters looking forward 50.000000 meters along route # Maximum depth: 2583.367691 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2496.125488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840872; longitude = -125.601697; captureRadius = 10; duration = 355; # abortOnTimeout = True; initialDepth = 2508.848493; finalDepth = 2496.125488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.485463 # Actual altitude: 78.485463 # Commanded vehicle depth: 2496.125488 # Seafloor depth: -2571.125488 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 104.090590 meters # Minimum depth: 2583.848493 meters looking forward 50.000000 meters along route # Maximum depth: 2589.856061 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2508.848493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839866; longitude = -125.600150; captureRadius = 10; duration = 208; initialDepth = 2510.953727; finalDepth = 2508.848493; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2508.848493 # Seafloor depth: -2583.848493 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 82.160788 meters # Minimum depth: 2585.953727 meters looking forward 50.000000 meters along route # Maximum depth: 2591.282288 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2510.953727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839276; longitude = -125.599243; captureRadius = 10; duration = 164; # abortOnTimeout = True; initialDepth = 2495.874258; finalDepth = 2510.953727; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3285609999998 # Actual altitude: 80.3285609999998 # Commanded vehicle depth: 2510.953727 # Seafloor depth: -2591.282288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 105.826918 meters # Minimum depth: 2570.874258 meters looking forward 50.000000 meters along route # Maximum depth: 2585.364393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2495.874258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838540; longitude = -125.599337; captureRadius = 10; duration = 211; initialDepth = 2486.106772; finalDepth = 2495.874258; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 89.490135 # Actual altitude: 89.490135 # Commanded vehicle depth: 2495.874258 # Seafloor depth: -2585.364393 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 43 # Segment length 98.810591 meters # Minimum depth: 2561.106772 meters looking forward 50.000000 meters along route # Maximum depth: 2570.459534 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.106772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837592; longitude = -125.599457; captureRadius = 10; duration = 197; # abortOnTimeout = True; initialDepth = 2480.235480; finalDepth = 2486.106772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.490135 # Actual altitude: 89.490135 # Commanded vehicle depth: 2486.106772 # Seafloor depth: -2570.459534 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 108.583852 meters # Minimum depth: 2555.235480 meters looking forward 50.000000 meters along route # Maximum depth: 2561.092109 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.235480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838091; longitude = -125.600374; captureRadius = 10; duration = 217; initialDepth = 2475.854271; finalDepth = 2480.235480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.352762 # Actual altitude: 84.352762 # Commanded vehicle depth: 2480.23548 # Seafloor depth: -2561.092109 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 337.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 337.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 337.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 108.583378 meters # Minimum depth: 2550.854271 meters looking forward 50.000000 meters along route # Maximum depth: 2555.120029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2475.854271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838639; longitude = -125.601382; captureRadius = 10; duration = 217; initialDepth = 2473.851401; finalDepth = 2475.854271; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.8566290000003 # Actual altitude: 80.8566290000003 # Commanded vehicle depth: 2475.854271 # Seafloor depth: -2555.120029 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 323.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 104.616414 meters # Minimum depth: 2548.851401 meters looking forward 50.000000 meters along route # Maximum depth: 2550.669880 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2473.851401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839187; longitude = -125.602390; captureRadius = 10; duration = 209; initialDepth = 2474.965149; finalDepth = 2473.851401; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.265758 # Actual altitude: 79.265758 # Commanded vehicle depth: 2473.851401 # Seafloor depth: -2550.669880 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 317.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.78; MB_Bottom_Detect_Filter_Max_Range = 317.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 317.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 107.083346 meters # Minimum depth: 2549.965149 meters looking forward 50.000000 meters along route # Maximum depth: 2558.637487 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2474.965149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839715; longitude = -125.603361; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 2484.466619; finalDepth = 2474.965149; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.818479 # Actual altitude: 76.818479 # Commanded vehicle depth: 2474.965149 # Seafloor depth: -2549.965149 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 307.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 107.556629 meters # Minimum depth: 2559.466619 meters looking forward 50.000000 meters along route # Maximum depth: 2560.973824 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2484.466619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840523; longitude = -125.604018; captureRadius = 10; duration = 215; initialDepth = 2486.607793; finalDepth = 2484.466619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0908680000002 # Actual altitude: 75.0908680000002 # Commanded vehicle depth: 2484.466619 # Seafloor depth: -2559.557487 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 101.821115 meters # Minimum depth: 2561.607793 meters looking forward 50.000000 meters along route # Maximum depth: 2567.287490 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2486.607793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841334; longitude = -125.604677; captureRadius = 10; duration = 203; initialDepth = 2489.974731; finalDepth = 2486.607793; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0908680000002 # Actual altitude: 75.0908680000002 # Commanded vehicle depth: 2486.607793 # Seafloor depth: -2561.607793 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 300.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 105.123810 meters # Minimum depth: 2564.974731 meters looking forward 50.000000 meters along route # Maximum depth: 2567.174988 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2489.974731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842102; longitude = -125.605302; captureRadius = 10; duration = 210; initialDepth = 2484.991803; finalDepth = 2489.974731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.2002570000004 # Actual altitude: 77.2002570000004 # Commanded vehicle depth: 2489.974731 # Seafloor depth: -2567.174988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 308.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 155.439252 meters # Minimum depth: 2559.991803 meters looking forward 50.000000 meters along route # Maximum depth: 2565.125671 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2484.991803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842894; longitude = -125.605946; captureRadius = 10; duration = 310; # abortOnTimeout = True; initialDepth = 2480.109096; finalDepth = 2484.991803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1338679999999 # Actual altitude: 80.1338679999999 # Commanded vehicle depth: 2484.991803 # Seafloor depth: -2565.125671 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.846443 meters # Minimum depth: 2555.109096 meters looking forward 50.000000 meters along route # Maximum depth: 2559.933227 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2480.109096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843857; longitude = -125.607212; captureRadius = 10; duration = 203; initialDepth = 2472.269033; finalDepth = 2480.109096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1338679999999 # Actual altitude: 80.1338679999999 # Commanded vehicle depth: 2480.109096 # Seafloor depth: -2559.933227 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 320.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.010858 meters # Minimum depth: 2547.269033 meters looking forward 50.000000 meters along route # Maximum depth: 2554.644558 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2472.269033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844488; longitude = -125.608041; captureRadius = 10; duration = 208; initialDepth = 2463.749426; finalDepth = 2472.269033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.3755249999999 # Actual altitude: 82.3755249999999 # Commanded vehicle depth: 2472.269033 # Seafloor depth: -2554.644558 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 329.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 329.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 329.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 126.025165 meters # Minimum depth: 2538.749426 meters looking forward 50.000000 meters along route # Maximum depth: 2549.225098 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2463.749426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845132; longitude = -125.608887; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 2458.145252; finalDepth = 2463.749426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.475672 # Actual altitude: 85.475672 # Commanded vehicle depth: 2463.749426 # Seafloor depth: -2549.225098 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 341.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.525080 meters # Minimum depth: 2533.145252 meters looking forward 50.000000 meters along route # Maximum depth: 2539.816321 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2458.145252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846110; longitude = -125.609605; captureRadius = 10; duration = 209; initialDepth = 2450.189424; finalDepth = 2458.145252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.475672 # Actual altitude: 85.475672 # Commanded vehicle depth: 2458.145252 # Seafloor depth: -2539.816321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 341.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 104.524835 meters # Minimum depth: 2525.189424 meters looking forward 50.000000 meters along route # Maximum depth: 2534.174099 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2450.189424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846921; longitude = -125.610200; captureRadius = 10; duration = 209; initialDepth = 2434.387128; finalDepth = 2450.189424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.9846749999997 # Actual altitude: 83.9846749999997 # Commanded vehicle depth: 2450.189424 # Seafloor depth: -2534.174099 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 335.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 106.881981 meters # Minimum depth: 2509.387128 meters looking forward 50.000000 meters along route # Maximum depth: 2525.002156 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2434.387128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847732; longitude = -125.610795; captureRadius = 10; duration = 213; initialDepth = 2418.251497; finalDepth = 2434.387128; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.6150280000002 # Actual altitude: 90.6150280000002 # Commanded vehicle depth: 2434.387128 # Seafloor depth: -2525.002156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 149.011082 meters # Minimum depth: 2493.251497 meters looking forward 50.000000 meters along route # Maximum depth: 2508.572144 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2418.251497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848561; longitude = -125.611404; captureRadius = 10; duration = 298; # abortOnTimeout = True; initialDepth = 2403.464663; finalDepth = 2418.251497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6150280000002 # Actual altitude: 90.6150280000002 # Commanded vehicle depth: 2418.251497 # Seafloor depth: -2508.572144 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.703454 meters # Minimum depth: 2478.464663 meters looking forward 50.000000 meters along route # Maximum depth: 2490.389483 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2403.464663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849895; longitude = -125.611596; captureRadius = 10; duration = 201; initialDepth = 2403.188402; finalDepth = 2403.464663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.320647 # Actual altitude: 90.320647 # Commanded vehicle depth: 2403.464663 # Seafloor depth: -2490.389483 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.795148 meters # Minimum depth: 2478.188402 meters looking forward 50.000000 meters along route # Maximum depth: 2478.609260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2403.188402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850796; longitude = -125.611726; captureRadius = 10; duration = 207; initialDepth = 2403.554443; finalDepth = 2403.188402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 86.9248199999997 # Actual altitude: 86.9248199999997 # Commanded vehicle depth: 2403.188402 # Seafloor depth: -2478.485220 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 347.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 347.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 347.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 167.703086 meters # Minimum depth: 2478.554443 meters looking forward 50.000000 meters along route # Maximum depth: 2487.778847 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2403.554443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851725; longitude = -125.611860; captureRadius = 10; duration = 335; # abortOnTimeout = True; initialDepth = 2414.289314; finalDepth = 2403.554443; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2968179999998 # Actual altitude: 75.2968179999998 # Commanded vehicle depth: 2403.554443 # Seafloor depth: -2478.554443 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 301.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.463174 meters # Minimum depth: 2489.289314 meters looking forward 50.000000 meters along route # Maximum depth: 2495.865392 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2414.289314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853229; longitude = -125.611686; captureRadius = 10; duration = 200; initialDepth = 2421.393485; finalDepth = 2414.289314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2414.289314 # Seafloor depth: -2489.289314 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 107.380941 meters # Minimum depth: 2496.393485 meters looking forward 50.000000 meters along route # Maximum depth: 2510.035388 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2421.393485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854130; longitude = -125.611583; captureRadius = 10; duration = 214; initialDepth = 2435.928223; finalDepth = 2421.393485; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2421.393485 # Seafloor depth: -2496.393485 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 162.838232 meters # Minimum depth: 2510.928223 meters looking forward 50.000000 meters along route # Maximum depth: 2521.206127 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2435.928223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855094; longitude = -125.611471; captureRadius = 10; duration = 325; # abortOnTimeout = True; initialDepth = 2446.288557; finalDepth = 2435.928223; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2435.928223 # Seafloor depth: -2510.928223 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 106.350696 meters # Minimum depth: 2521.288557 meters looking forward 50.000000 meters along route # Maximum depth: 2522.954921 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2446.288557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856473; longitude = -125.610852; captureRadius = 10; duration = 212; initialDepth = 2447.271384; finalDepth = 2446.288557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2446.288557 # Seafloor depth: -2521.288557 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.062078 meters # Minimum depth: 2522.271384 meters looking forward 50.000000 meters along route # Maximum depth: 2522.976503 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2447.271384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857375; longitude = -125.610447; captureRadius = 10; duration = 218; initialDepth = 2446.908691; finalDepth = 2447.271384; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.7051189999997 # Actual altitude: 75.7051189999997 # Commanded vehicle depth: 2447.271384 # Seafloor depth: -2522.976503 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 86.888171 meters # Minimum depth: 2521.908691 meters looking forward 50.000000 meters along route # Maximum depth: 2525.330293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2446.908691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858299; longitude = -125.610032; captureRadius = 10; duration = 173; # abortOnTimeout = True; initialDepth = 2450.863289; finalDepth = 2446.908691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7051189999997 # Actual altitude: 75.7051189999997 # Commanded vehicle depth: 2446.908691 # Seafloor depth: -2521.908691 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.966822 meters # Minimum depth: 2525.863289 meters looking forward 50.000000 meters along route # Maximum depth: 2536.349060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2450.863289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858997; longitude = -125.609591; captureRadius = 10; duration = 201; initialDepth = 2461.696966; finalDepth = 2450.863289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2450.863289 # Seafloor depth: -2525.863289 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.966586 meters # Minimum depth: 2536.696966 meters looking forward 50.000000 meters along route # Maximum depth: 2543.867978 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2461.696966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859808; longitude = -125.609079; captureRadius = 10; duration = 201; initialDepth = 2469.884720; finalDepth = 2461.696966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2461.696966 # Seafloor depth: -2536.696966 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.966351 meters # Minimum depth: 2544.884720 meters looking forward 50.000000 meters along route # Maximum depth: 2546.217621 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2469.884720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860619; longitude = -125.608566; captureRadius = 10; duration = 201; initialDepth = 2471.418217; finalDepth = 2469.884720; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2469.88472 # Seafloor depth: -2544.884720 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 100.966116 meters # Minimum depth: 2546.418217 meters looking forward 50.000000 meters along route # Maximum depth: 2552.234170 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2471.418217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861430; longitude = -125.608054; captureRadius = 10; duration = 201; initialDepth = 2477.235781; finalDepth = 2471.418217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2471.418217 # Seafloor depth: -2546.418217 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 110.176223 meters # Minimum depth: 2552.235781 meters looking forward 50.000000 meters along route # Maximum depth: 2555.833959 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2477.235781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862241; longitude = -125.607541; captureRadius = 10; duration = 220; initialDepth = 2481.557739; finalDepth = 2477.235781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2477.235781 # Seafloor depth: -2552.235781 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 153.953038 meters # Minimum depth: 2556.557739 meters looking forward 50.000000 meters along route # Maximum depth: 2564.348470 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2481.557739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863126; longitude = -125.606982; captureRadius = 10; duration = 307; # abortOnTimeout = True; initialDepth = 2489.825911; finalDepth = 2481.557739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2481.557739 # Seafloor depth: -2556.557739 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 107.555859 meters # Minimum depth: 2564.825911 meters looking forward 50.000000 meters along route # Maximum depth: 2569.989844 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2489.825911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864223; longitude = -125.605927; captureRadius = 10; duration = 215; initialDepth = 2495.011139; finalDepth = 2489.825911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2489.825911 # Seafloor depth: -2564.825911 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 104.067384 meters # Minimum depth: 2570.011139 meters looking forward 50.000000 meters along route # Maximum depth: 2573.801080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2495.011139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864990; longitude = -125.605190; captureRadius = 10; duration = 208; initialDepth = 2499.402588; finalDepth = 2495.011139; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2495.011139 # Seafloor depth: -2570.011139 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 110.234946 meters # Minimum depth: 2574.402588 meters looking forward 50.000000 meters along route # Maximum depth: 2581.489101 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2499.402588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865732; longitude = -125.604477; captureRadius = 10; duration = 220; # abortOnTimeout = True; initialDepth = 2502.919198; finalDepth = 2499.402588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2499.402588 # Seafloor depth: -2574.402588 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 103.016826 meters # Minimum depth: 2577.919198 meters looking forward 50.000000 meters along route # Maximum depth: 2581.829344 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.919198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866217; longitude = -125.603398; captureRadius = 10; duration = 206; initialDepth = 2502.876951; finalDepth = 2502.919198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9101460000002 # Actual altitude: 78.9101460000002 # Commanded vehicle depth: 2502.919198 # Seafloor depth: -2581.829344 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 106.404710 meters # Minimum depth: 2577.876951 meters looking forward 50.000000 meters along route # Maximum depth: 2584.966569 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2502.876951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866670; longitude = -125.602390; captureRadius = 10; duration = 212; initialDepth = 2509.525016; finalDepth = 2502.876951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.9101460000002 # Actual altitude: 78.9101460000002 # Commanded vehicle depth: 2502.876951 # Seafloor depth: -2577.876951 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 315.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 139.253964 meters # Minimum depth: 2584.525016 meters looking forward 50.000000 meters along route # Maximum depth: 2585.275361 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.525016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867139; longitude = -125.601349; captureRadius = 10; duration = 278; # abortOnTimeout = True; initialDepth = 2509.512070; finalDepth = 2509.525016; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7147909999999 # Actual altitude: 75.7147909999999 # Commanded vehicle depth: 2509.525016 # Seafloor depth: -2585.239807 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 110.178141 meters # Minimum depth: 2584.512070 meters looking forward 50.000000 meters along route # Maximum depth: 2586.682798 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2509.512070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868099; longitude = -125.600344; captureRadius = 10; duration = 220; initialDepth = 2511.966675; finalDepth = 2509.512070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.7147909999999 # Actual altitude: 75.7147909999999 # Commanded vehicle depth: 2509.51207 # Seafloor depth: -2584.512070 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 302.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 156.120025 meters # Minimum depth: 2586.966675 meters looking forward 50.000000 meters along route # Maximum depth: 2597.236831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.966675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868858; longitude = -125.599549; captureRadius = 10; duration = 312; # abortOnTimeout = True; initialDepth = 2523.943431; finalDepth = 2511.966675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2511.966675 # Seafloor depth: -2586.966675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 109.890410 meters # Minimum depth: 2598.943431 meters looking forward 50.000000 meters along route # Maximum depth: 2601.823890 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2523.943431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868886; longitude = -125.597799; captureRadius = 10; duration = 219; initialDepth = 2527.434076; finalDepth = 2523.943431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2523.943431 # Seafloor depth: -2598.943431 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 109.890313 meters # Minimum depth: 2602.434076 meters looking forward 50.000000 meters along route # Maximum depth: 2605.318742 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2527.434076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868906; longitude = -125.596567; captureRadius = 10; duration = 219; initialDepth = 2529.263696; finalDepth = 2527.434076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2527.434076 # Seafloor depth: -2602.434076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.990847 meters # Minimum depth: 2604.263696 meters looking forward 50.000000 meters along route # Maximum depth: 2613.478224 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2529.263696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868926; longitude = -125.595335; captureRadius = 10; duration = 207; initialDepth = 2538.357823; finalDepth = 2529.263696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2529.263696 # Seafloor depth: -2604.263696 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 87.943273 meters # Minimum depth: 2613.357823 meters looking forward 50.000000 meters along route # Maximum depth: 2613.550232 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2538.357823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868945; longitude = -125.594169; captureRadius = 10; duration = 175; # abortOnTimeout = True; initialDepth = 2535.847446; finalDepth = 2538.357823; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.1924090000002 # Actual altitude: 75.1924090000002 # Commanded vehicle depth: 2538.357823 # Seafloor depth: -2613.550232 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 300.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 102.372097 meters # Minimum depth: 2610.847446 meters looking forward 50.000000 meters along route # Maximum depth: 2614.701165 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2535.847446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869118; longitude = -125.593207; captureRadius = 10; duration = 204; initialDepth = 2534.676778; finalDepth = 2535.847446; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8355879999999 # Actual altitude: 77.8355879999999 # Commanded vehicle depth: 2535.847446 # Seafloor depth: -2613.683034 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 311.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.371781 meters # Minimum depth: 2609.676778 meters looking forward 50.000000 meters along route # Maximum depth: 2612.269266 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2534.676778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869321; longitude = -125.592087; captureRadius = 10; duration = 204; initialDepth = 2535.477000; finalDepth = 2534.676778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.8355879999999 # Actual altitude: 77.8355879999999 # Commanded vehicle depth: 2534.676778 # Seafloor depth: -2609.676778 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 311.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 311.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 311.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.367065 meters # Minimum depth: 2610.477000 meters looking forward 50.000000 meters along route # Maximum depth: 2614.867243 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2535.477000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869523; longitude = -125.590967; captureRadius = 10; duration = 202; initialDepth = 2540.278931; finalDepth = 2535.477000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.8161800000003 # Actual altitude: 76.8161800000003 # Commanded vehicle depth: 2535.477 # Seafloor depth: -2612.293180 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 91.036912 meters # Minimum depth: 2615.278931 meters looking forward 50.000000 meters along route # Maximum depth: 2624.334354 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2540.278931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869723; longitude = -125.589858; captureRadius = 10; duration = 182; # abortOnTimeout = True; initialDepth = 2550.523489; finalDepth = 2540.278931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.8161800000003 # Actual altitude: 76.8161800000003 # Commanded vehicle depth: 2540.278931 # Seafloor depth: -2615.278931 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 307.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 307.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 307.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.061320 meters # Minimum depth: 2625.523489 meters looking forward 50.000000 meters along route # Maximum depth: 2630.437474 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2550.523489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869674; longitude = -125.588839; captureRadius = 10; duration = 200; initialDepth = 2556.413386; finalDepth = 2550.523489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2550.523489 # Seafloor depth: -2625.523489 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 100.061334 meters # Minimum depth: 2631.413386 meters looking forward 50.000000 meters along route # Maximum depth: 2636.010117 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2556.413386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869619; longitude = -125.587720; captureRadius = 10; duration = 200; initialDepth = 2561.609002; finalDepth = 2556.413386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2556.413386 # Seafloor depth: -2631.413386 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 103.921701 meters # Minimum depth: 2636.609002 meters looking forward 50.000000 meters along route # Maximum depth: 2638.632499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2561.609002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869565; longitude = -125.586600; captureRadius = 10; duration = 207; initialDepth = 2563.886536; finalDepth = 2561.609002; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2561.609002 # Seafloor depth: -2636.609002 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 99.227209 meters # Minimum depth: 2638.886536 meters looking forward 50.000000 meters along route # Maximum depth: 2640.298878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2563.886536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869508; longitude = -125.585437; captureRadius = 10; duration = 198; # abortOnTimeout = True; initialDepth = 2564.099133; finalDepth = 2563.886536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2563.886536 # Seafloor depth: -2638.886536 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.209230 meters # Minimum depth: 2639.099133 meters looking forward 50.000000 meters along route # Maximum depth: 2639.418715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2564.099133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869283; longitude = -125.584360; captureRadius = 10; duration = 206; initialDepth = 2564.500140; finalDepth = 2564.099133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.256265 # Actual altitude: 75.256265 # Commanded vehicle depth: 2564.099133 # Seafloor depth: -2639.355398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.209467 meters # Minimum depth: 2639.500140 meters looking forward 50.000000 meters along route # Maximum depth: 2644.111313 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2564.500140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869049; longitude = -125.583240; captureRadius = 10; duration = 206; initialDepth = 2568.933125; finalDepth = 2564.500140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.256265 # Actual altitude: 75.256265 # Commanded vehicle depth: 2564.50014 # Seafloor depth: -2639.500140 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.081986 meters # Minimum depth: 2643.933125 meters looking forward 50.000000 meters along route # Maximum depth: 2644.818579 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2568.933125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868815; longitude = -125.582120; captureRadius = 10; duration = 208; initialDepth = 2555.612847; finalDepth = 2568.933125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.2655140000002 # Actual altitude: 75.2655140000002 # Commanded vehicle depth: 2568.933125 # Seafloor depth: -2644.198639 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 301.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 301.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 301.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 134.788727 meters # Minimum depth: 2630.612847 meters looking forward 50.000000 meters along route # Maximum depth: 2644.434814 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2555.612847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868578; longitude = -125.580991; captureRadius = 10; duration = 269; # abortOnTimeout = True; initialDepth = 2556.406510; finalDepth = 2555.612847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.8219670000003 # Actual altitude: 88.8219670000003 # Commanded vehicle depth: 2555.612847 # Seafloor depth: -2644.434814 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.191298 meters # Minimum depth: 2631.406510 meters looking forward 50.000000 meters along route # Maximum depth: 2638.513659 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2556.406510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867918; longitude = -125.579722; captureRadius = 10; duration = 204; initialDepth = 2564.266902; finalDepth = 2556.406510; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.8219670000003 # Actual altitude: 88.8219670000003 # Commanded vehicle depth: 2556.40651 # Seafloor depth: -2631.406510 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 107.094302 meters # Minimum depth: 2639.266902 meters looking forward 50.000000 meters along route # Maximum depth: 2658.410289 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2564.266902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867418; longitude = -125.578760; captureRadius = 10; duration = 214; initialDepth = 2585.191839; finalDepth = 2564.266902; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2564.266902 # Seafloor depth: -2639.266902 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 107.094762 meters # Minimum depth: 2660.191839 meters looking forward 50.000000 meters along route # Maximum depth: 2666.640744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.191839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866894; longitude = -125.577752; captureRadius = 10; duration = 214; initialDepth = 2584.824375; finalDepth = 2585.191839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.4223670000001 # Actual altitude: 76.4223670000001 # Commanded vehicle depth: 2585.191839 # Seafloor depth: -2661.614206 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 109.986779 meters # Minimum depth: 2659.824375 meters looking forward 50.000000 meters along route # Maximum depth: 2664.121882 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2584.824375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866369; longitude = -125.576745; captureRadius = 10; duration = 219; initialDepth = 2589.055481; finalDepth = 2584.824375; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.4223670000001 # Actual altitude: 76.4223670000001 # Commanded vehicle depth: 2584.824375 # Seafloor depth: -2659.824375 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 305.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 105.872936 meters # Minimum depth: 2664.055481 meters looking forward 50.000000 meters along route # Maximum depth: 2666.703275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2589.055481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865831; longitude = -125.575709; captureRadius = 10; duration = 211; # abortOnTimeout = True; initialDepth = 2591.811836; finalDepth = 2589.055481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2589.055481 # Seafloor depth: -2664.055481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 108.811278 meters # Minimum depth: 2666.811836 meters looking forward 50.000000 meters along route # Maximum depth: 2671.336231 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2591.811836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865293; longitude = -125.574729; captureRadius = 10; duration = 217; initialDepth = 2596.389933; finalDepth = 2591.811836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2591.811836 # Seafloor depth: -2666.811836 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.811755 meters # Minimum depth: 2671.389933 meters looking forward 50.000000 meters along route # Maximum depth: 2674.569081 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2596.389933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864741; longitude = -125.573721; captureRadius = 10; duration = 217; initialDepth = 2599.992815; finalDepth = 2596.389933; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2596.389933 # Seafloor depth: -2671.389933 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.812233 meters # Minimum depth: 2674.992815 meters looking forward 50.000000 meters along route # Maximum depth: 2680.330469 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2599.992815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864189; longitude = -125.572713; captureRadius = 10; duration = 217; initialDepth = 2605.600639; finalDepth = 2599.992815; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2599.992815 # Seafloor depth: -2674.992815 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.276889 meters # Minimum depth: 2680.600639 meters looking forward 50.000000 meters along route # Maximum depth: 2689.054523 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2605.600639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863636; longitude = -125.571705; captureRadius = 10; duration = 208; initialDepth = 2610.223367; finalDepth = 2605.600639; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2605.600639 # Seafloor depth: -2680.600639 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 110.664367 meters # Minimum depth: 2685.223367 meters looking forward 50.000000 meters along route # Maximum depth: 2689.947083 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2610.223367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863107; longitude = -125.570739; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 2603.836457; finalDepth = 2610.223367; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.723716 # Actual altitude: 79.723716 # Commanded vehicle depth: 2610.223367 # Seafloor depth: -2689.947083 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 318.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.742380 meters # Minimum depth: 2678.836457 meters looking forward 50.000000 meters along route # Maximum depth: 2685.742818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2603.836457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864043; longitude = -125.570313; captureRadius = 10; duration = 209; initialDepth = 2601.233709; finalDepth = 2603.836457; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 81.9063610000003 # Actual altitude: 81.9063610000003 # Commanded vehicle depth: 2603.836457 # Seafloor depth: -2685.742818 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 327.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 112.954802 meters # Minimum depth: 2676.233709 meters looking forward 50.000000 meters along route # Maximum depth: 2678.425476 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2601.233709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864929; longitude = -125.569910; captureRadius = 10; duration = 225; # abortOnTimeout = True; initialDepth = 2598.136409; finalDepth = 2601.233709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9063610000003 # Actual altitude: 81.9063610000003 # Commanded vehicle depth: 2601.233709 # Seafloor depth: -2678.425476 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.57; MB_Bottom_Detect_Filter_Max_Range = 327.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.049923 meters # Minimum depth: 2673.136409 meters looking forward 50.000000 meters along route # Maximum depth: 2676.241470 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2598.136409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865542; longitude = -125.570921; captureRadius = 10; duration = 200; initialDepth = 2596.212654; finalDepth = 2598.136409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1050609999998 # Actual altitude: 78.1050609999998 # Commanded vehicle depth: 2598.136409 # Seafloor depth: -2676.241470 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 312.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.049520 meters # Minimum depth: 2671.212654 meters looking forward 50.000000 meters along route # Maximum depth: 2673.036619 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2596.212654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866084; longitude = -125.571817; captureRadius = 10; duration = 200; initialDepth = 2590.077311; finalDepth = 2596.212654; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1050609999998 # Actual altitude: 78.1050609999998 # Commanded vehicle depth: 2596.212654 # Seafloor depth: -2671.941952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 312.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.278903 meters # Minimum depth: 2665.077311 meters looking forward 50.000000 meters along route # Maximum depth: 2672.782430 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.077311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866627; longitude = -125.572713; captureRadius = 10; duration = 210; initialDepth = 2590.159472; finalDepth = 2590.077311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7051190000002 # Actual altitude: 82.7051190000002 # Commanded vehicle depth: 2590.077311 # Seafloor depth: -2672.782430 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 330.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.505533 meters # Minimum depth: 2665.159472 meters looking forward 50.000000 meters along route # Maximum depth: 2669.358042 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2590.159472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867197; longitude = -125.573656; captureRadius = 10; duration = 205; initialDepth = 2587.762747; finalDepth = 2590.159472; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.7051190000002 # Actual altitude: 82.7051190000002 # Commanded vehicle depth: 2590.159472 # Seafloor depth: -2665.159472 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 330.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 330.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 330.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 163.777040 meters # Minimum depth: 2662.762747 meters looking forward 50.000000 meters along route # Maximum depth: 2668.687134 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2587.762747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867753; longitude = -125.574574; captureRadius = 10; duration = 327; # abortOnTimeout = True; initialDepth = 2587.075414; finalDepth = 2587.762747; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9243869999996 # Actual altitude: 80.9243869999996 # Commanded vehicle depth: 2587.762747 # Seafloor depth: -2668.687134 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 323.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.537159 meters # Minimum depth: 2662.075414 meters looking forward 50.000000 meters along route # Maximum depth: 2664.099006 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2587.075414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868459; longitude = -125.576186; captureRadius = 10; duration = 209; initialDepth = 2585.034250; finalDepth = 2587.075414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9243869999996 # Actual altitude: 80.9243869999996 # Commanded vehicle depth: 2587.075414 # Seafloor depth: -2664.099006 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 323.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.049054 meters # Minimum depth: 2660.034250 meters looking forward 50.000000 meters along route # Maximum depth: 2663.071600 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.034250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868910; longitude = -125.577215; captureRadius = 10; duration = 200; initialDepth = 2585.142183; finalDepth = 2585.034250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0373500000001 # Actual altitude: 78.0373500000001 # Commanded vehicle depth: 2585.03425 # Seafloor depth: -2663.071600 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 312.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 102.368430 meters # Minimum depth: 2660.142183 meters looking forward 50.000000 meters along route # Maximum depth: 2660.418676 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2585.142183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869341; longitude = -125.578200; captureRadius = 10; duration = 204; initialDepth = 2583.697801; finalDepth = 2585.142183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0373500000001 # Actual altitude: 78.0373500000001 # Commanded vehicle depth: 2585.142183 # Seafloor depth: -2660.412950 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 312.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.090014 meters # Minimum depth: 2658.697801 meters looking forward 50.000000 meters along route # Maximum depth: 2660.284601 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2583.697801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869782; longitude = -125.579208; captureRadius = 10; duration = 200; initialDepth = 2579.084524; finalDepth = 2583.697801; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.5868 # Actual altitude: 76.5868 # Commanded vehicle depth: 2583.697801 # Seafloor depth: -2660.284601 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 306.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 142.158963 meters # Minimum depth: 2654.084524 meters looking forward 50.000000 meters along route # Maximum depth: 2659.302063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2579.084524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870213; longitude = -125.580194; captureRadius = 10; duration = 284; # abortOnTimeout = True; initialDepth = 2574.284951; finalDepth = 2579.084524; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2175390000002 # Actual altitude: 80.2175390000002 # Commanded vehicle depth: 2579.084524 # Seafloor depth: -2659.302063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.318398 meters # Minimum depth: 2649.284951 meters looking forward 50.000000 meters along route # Maximum depth: 2654.006952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2574.284951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870622; longitude = -125.581705; captureRadius = 10; duration = 204; initialDepth = 2571.812557; finalDepth = 2574.284951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2175390000002 # Actual altitude: 80.2175390000002 # Commanded vehicle depth: 2574.284951 # Seafloor depth: -2654.006952 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.07; MB_Bottom_Detect_Filter_Max_Range = 320.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.376384 meters # Minimum depth: 2646.812557 meters looking forward 50.000000 meters along route # Maximum depth: 2648.673717 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2571.812557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870916; longitude = -125.582792; captureRadius = 10; duration = 210; initialDepth = 2565.630719; finalDepth = 2571.812557; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7220010000001 # Actual altitude: 79.7220010000001 # Commanded vehicle depth: 2571.812557 # Seafloor depth: -2648.673717 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.92; MB_Bottom_Detect_Filter_Max_Range = 318.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 109.796354 meters # Minimum depth: 2640.630719 meters looking forward 50.000000 meters along route # Maximum depth: 2646.586577 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2565.630719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871218; longitude = -125.583912; captureRadius = 10; duration = 219; initialDepth = 2554.045522; finalDepth = 2565.630719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.9558579999998 # Actual altitude: 80.9558579999998 # Commanded vehicle depth: 2565.630719 # Seafloor depth: -2646.586577 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 323.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.29; MB_Bottom_Detect_Filter_Max_Range = 323.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 323.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 115.757315 meters # Minimum depth: 2629.045522 meters looking forward 50.000000 meters along route # Maximum depth: 2640.430786 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2554.045522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871534; longitude = -125.585079; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 2539.467151; finalDepth = 2554.045522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.385264 # Actual altitude: 86.385264 # Commanded vehicle depth: 2554.045522 # Seafloor depth: -2640.430786 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 345.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 345.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 109.954504 meters # Minimum depth: 2614.467151 meters looking forward 50.000000 meters along route # Maximum depth: 2627.124155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2539.467151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871576; longitude = -125.586376; captureRadius = 10; duration = 219; initialDepth = 2539.488026; finalDepth = 2539.467151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6570040000001 # Actual altitude: 87.6570040000001 # Commanded vehicle depth: 2539.467151 # Seafloor depth: -2627.124155 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 109.954515 meters # Minimum depth: 2614.488026 meters looking forward 50.000000 meters along route # Maximum depth: 2628.640082 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2539.488026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871616; longitude = -125.587608; captureRadius = 10; duration = 219; initialDepth = 2550.200184; finalDepth = 2539.488026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6570040000001 # Actual altitude: 87.6570040000001 # Commanded vehicle depth: 2539.488026 # Seafloor depth: -2614.488026 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 101.806195 meters # Minimum depth: 2625.200184 meters looking forward 50.000000 meters along route # Maximum depth: 2630.533167 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2550.200184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871656; longitude = -125.588839; captureRadius = 10; duration = 203; initialDepth = 2545.291506; finalDepth = 2550.200184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.3329830000002 # Actual altitude: 80.3329830000002 # Commanded vehicle depth: 2550.200184 # Seafloor depth: -2630.533167 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 162.214318 meters # Minimum depth: 2620.291506 meters looking forward 50.000000 meters along route # Maximum depth: 2625.005249 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2545.291506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871694; longitude = -125.589980; captureRadius = 10; duration = 324; # abortOnTimeout = True; initialDepth = 2536.969082; finalDepth = 2545.291506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3329830000002 # Actual altitude: 80.3329830000002 # Commanded vehicle depth: 2545.291506 # Seafloor depth: -2625.005249 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 321.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.10; MB_Bottom_Detect_Filter_Max_Range = 321.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.569230 meters # Minimum depth: 2611.969082 meters looking forward 50.000000 meters along route # Maximum depth: 2620.394563 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2536.969082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871361; longitude = -125.591751; captureRadius = 10; duration = 205; initialDepth = 2531.591512; finalDepth = 2536.969082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4254809999998 # Actual altitude: 83.4254809999998 # Commanded vehicle depth: 2536.969082 # Seafloor depth: -2620.394563 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 102.569555 meters # Minimum depth: 2606.591512 meters looking forward 50.000000 meters along route # Maximum depth: 2611.245138 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2531.591512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871151; longitude = -125.592871; captureRadius = 10; duration = 205; initialDepth = 2528.581374; finalDepth = 2531.591512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.4254809999998 # Actual altitude: 83.4254809999998 # Commanded vehicle depth: 2531.591512 # Seafloor depth: -2611.245138 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 333.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 103.416629 meters # Minimum depth: 2603.581374 meters looking forward 50.000000 meters along route # Maximum depth: 2608.212719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2528.581374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870940; longitude = -125.593991; captureRadius = 10; duration = 206; initialDepth = 2525.004213; finalDepth = 2528.581374; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.6536260000003 # Actual altitude: 79.6536260000003 # Commanded vehicle depth: 2528.581374 # Seafloor depth: -2606.635373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 318.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 85.850121 meters # Minimum depth: 2600.004213 meters looking forward 50.000000 meters along route # Maximum depth: 2602.332825 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2525.004213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870728; longitude = -125.595120; captureRadius = 10; duration = 171; # abortOnTimeout = True; initialDepth = 2518.266712; finalDepth = 2525.004213; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0539990000002 # Actual altitude: 78.0539990000002 # Commanded vehicle depth: 2525.004213 # Seafloor depth: -2602.332825 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 312.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 108.432037 meters # Minimum depth: 2593.266712 meters looking forward 50.000000 meters along route # Maximum depth: 2599.789970 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2518.266712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870427; longitude = -125.596007; captureRadius = 10; duration = 216; initialDepth = 2518.111697; finalDepth = 2518.266712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5232579999997 # Actual altitude: 81.5232579999997 # Commanded vehicle depth: 2518.266712 # Seafloor depth: -2599.789970 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 108.432555 meters # Minimum depth: 2593.111697 meters looking forward 50.000000 meters along route # Maximum depth: 2596.516628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2518.111697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870047; longitude = -125.597127; captureRadius = 10; duration = 216; initialDepth = 2511.781907; finalDepth = 2518.111697; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5232579999997 # Actual altitude: 81.5232579999997 # Commanded vehicle depth: 2518.111697 # Seafloor depth: -2593.111697 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 326.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 326.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 105.030284 meters # Minimum depth: 2586.781907 meters looking forward 50.000000 meters along route # Maximum depth: 2596.919764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2511.781907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869667; longitude = -125.598247; captureRadius = 10; duration = 210; initialDepth = 2494.297664; finalDepth = 2511.781907; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 85.1378570000002 # Actual altitude: 85.1378570000002 # Commanded vehicle depth: 2511.781907 # Seafloor depth: -2596.919764 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 340.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 109.062587 meters # Minimum depth: 2569.297664 meters looking forward 50.000000 meters along route # Maximum depth: 2586.371887 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2494.297664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869298; longitude = -125.599331; captureRadius = 10; duration = 218; # abortOnTimeout = True; initialDepth = 2462.483185; finalDepth = 2494.297664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.0742229999996 # Actual altitude: 92.0742229999996 # Commanded vehicle depth: 2494.297664 # Seafloor depth: -2586.371887 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 103.641568 meters # Minimum depth: 2537.483185 meters looking forward 50.000000 meters along route # Maximum depth: 2568.452948 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2462.483185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870100; longitude = -125.600038; captureRadius = 10; duration = 207; initialDepth = 2398.951199; finalDepth = 2462.483185; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.969763 # Actual altitude: 100 # Commanded vehicle depth: 2462.483185 # Seafloor depth: -2568.452948 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 19 # Segment length 103.641267 meters # Minimum depth: 2473.951199 meters looking forward 50.000000 meters along route # Maximum depth: 2532.314584 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2398.951199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870862; longitude = -125.600710; captureRadius = 10; duration = 207; initialDepth = 2379.921574; finalDepth = 2398.951199; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 133.363385 # Actual altitude: 100 # Commanded vehicle depth: 2398.951199 # Seafloor depth: -2532.314584 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 19 # Segment length 100.674143 meters # Minimum depth: 2454.921574 meters looking forward 50.000000 meters along route # Maximum depth: 2473.473628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2379.921574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871624; longitude = -125.601382; captureRadius = 10; duration = 201; initialDepth = 2372.596154; finalDepth = 2379.921574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 133.363385 # Actual altitude: 100 # Commanded vehicle depth: 2379.921574 # Seafloor depth: -2473.473628 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 to get to end of line 18 # Segment length 127.444980 meters # Minimum depth: 2447.596154 meters looking forward 50.000000 meters along route # Maximum depth: 2455.347717 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2372.596154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.872364; longitude = -125.602035; captureRadius = 10; duration = 254; # abortOnTimeout = True; initialDepth = 2361.629954; finalDepth = 2372.596154; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.5520540000002 # Actual altitude: 93.5520540000002 # Commanded vehicle depth: 2372.596154 # Seafloor depth: -2455.347717 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.234961 meters # Minimum depth: 2436.629954 meters looking forward 50.000000 meters along route # Maximum depth: 2447.062053 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2361.629954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871670; longitude = -125.603174; captureRadius = 10; duration = 200; initialDepth = 2362.123606; finalDepth = 2361.629954; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.4320990000001 # Actual altitude: 85.4320990000001 # Commanded vehicle depth: 2361.629954 # Seafloor depth: -2447.062053 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 341.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 107.095321 meters # Minimum depth: 2437.123606 meters looking forward 50.000000 meters along route # Maximum depth: 2438.900319 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2362.123606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.871125; longitude = -125.604070; captureRadius = 10; duration = 214; initialDepth = 2343.024323; finalDepth = 2362.123606; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 85.4320990000001 # Actual altitude: 85.4320990000001 # Commanded vehicle depth: 2362.123606 # Seafloor depth: -2437.546427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 341.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 341.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 341.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 163.287292 meters # Minimum depth: 2418.024323 meters looking forward 50.000000 meters along route # Maximum depth: 2436.821106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2343.024323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.870543; longitude = -125.605027; captureRadius = 10; duration = 326; # abortOnTimeout = True; initialDepth = 2320.203290; finalDepth = 2343.024323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.7967829999998 # Actual altitude: 93.7967829999998 # Commanded vehicle depth: 2343.024323 # Seafloor depth: -2436.821106 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.14; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.782830 meters # Minimum depth: 2395.203290 meters looking forward 50.000000 meters along route # Maximum depth: 2417.114317 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2320.203290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.869540; longitude = -125.606367; captureRadius = 10; duration = 205; initialDepth = 2320.188614; finalDepth = 2320.203290; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.9110270000001 # Actual altitude: 96.9110270000001 # Commanded vehicle depth: 2320.20329 # Seafloor depth: -2417.114317 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.783323 meters # Minimum depth: 2395.188614 meters looking forward 50.000000 meters along route # Maximum depth: 2397.059894 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2320.188614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868910; longitude = -125.607211; captureRadius = 10; duration = 205; initialDepth = 2322.144475; finalDepth = 2320.188614; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.9110270000001 # Actual altitude: 96.9110270000001 # Commanded vehicle depth: 2320.188614 # Seafloor depth: -2395.188614 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.07; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.783816 meters # Minimum depth: 2397.144475 meters looking forward 50.000000 meters along route # Maximum depth: 2399.352706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2322.144475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.868279; longitude = -125.608055; captureRadius = 10; duration = 205; initialDepth = 2319.999063; finalDepth = 2322.144475; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2322.144475 # Seafloor depth: -2397.144475 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 108.083100 meters # Minimum depth: 2394.999063 meters looking forward 50.000000 meters along route # Maximum depth: 2399.072338 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2319.999063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.867648; longitude = -125.608898; captureRadius = 10; duration = 216; initialDepth = 2320.238220; finalDepth = 2319.999063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.0732749999997 # Actual altitude: 79.0732749999997 # Commanded vehicle depth: 2319.999063 # Seafloor depth: -2399.072338 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 316.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 78.508715 meters # Minimum depth: 2395.238220 meters looking forward 50.000000 meters along route # Maximum depth: 2396.525522 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2320.238220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866985; longitude = -125.609785; captureRadius = 10; duration = 157; # abortOnTimeout = True; initialDepth = 2318.460389; finalDepth = 2320.238220; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0732749999997 # Actual altitude: 79.0732749999997 # Commanded vehicle depth: 2320.23822 # Seafloor depth: -2395.556152 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 316.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 316.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.141397 meters # Minimum depth: 2393.460389 meters looking forward 50.000000 meters along route # Maximum depth: 2396.865511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2318.460389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.866386; longitude = -125.610255; captureRadius = 10; duration = 216; initialDepth = 2317.711750; finalDepth = 2318.460389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1904200000004 # Actual altitude: 78.1904200000004 # Commanded vehicle depth: 2318.460389 # Seafloor depth: -2396.650809 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.712167 meters # Minimum depth: 2392.711750 meters looking forward 50.000000 meters along route # Maximum depth: 2393.882374 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2317.711750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.865562; longitude = -125.610901; captureRadius = 10; duration = 209; initialDepth = 2319.331696; finalDepth = 2317.711750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.1904200000004 # Actual altitude: 78.1904200000004 # Commanded vehicle depth: 2317.71175 # Seafloor depth: -2393.372223 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 312.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 312.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 101.324919 meters # Minimum depth: 2394.331696 meters looking forward 50.000000 meters along route # Maximum depth: 2398.210266 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2319.331696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864764; longitude = -125.611527; captureRadius = 10; duration = 202; initialDepth = 2322.442809; finalDepth = 2319.331696; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.6604729999999 # Actual altitude: 75.6604729999999 # Commanded vehicle depth: 2319.331696 # Seafloor depth: -2394.331696 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 302.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 104.659254 meters # Minimum depth: 2397.442809 meters looking forward 50.000000 meters along route # Maximum depth: 2398.551133 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2322.442809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863992; longitude = -125.612133; captureRadius = 10; duration = 209; initialDepth = 2313.460669; finalDepth = 2322.442809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.1083239999998 # Actual altitude: 76.1083239999998 # Commanded vehicle depth: 2322.442809 # Seafloor depth: -2398.551133 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 304.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 304.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 84.092571 meters # Minimum depth: 2388.460669 meters looking forward 50.000000 meters along route # Maximum depth: 2397.296753 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2313.460669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863194; longitude = -125.612759; captureRadius = 10; duration = 168; # abortOnTimeout = True; initialDepth = 2298.335008; finalDepth = 2313.460669; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.836084 # Actual altitude: 83.836084 # Commanded vehicle depth: 2313.460669 # Seafloor depth: -2397.296753 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 335.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 110.372999 meters # Minimum depth: 2373.335008 meters looking forward 50.000000 meters along route # Maximum depth: 2387.531008 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2298.335008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862511; longitude = -125.613166; captureRadius = 10; duration = 220; initialDepth = 2288.223068; finalDepth = 2298.335008; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.1959999999999 # Actual altitude: 89.1959999999999 # Commanded vehicle depth: 2298.335008 # Seafloor depth: -2387.531008 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.385360 meters # Minimum depth: 2363.223068 meters looking forward 50.000000 meters along route # Maximum depth: 2372.082197 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2288.223068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861615; longitude = -125.613701; captureRadius = 10; duration = 200; initialDepth = 2287.724230; finalDepth = 2288.223068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.1959999999999 # Actual altitude: 89.1959999999999 # Commanded vehicle depth: 2288.223068 # Seafloor depth: -2372.082197 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 107.663602 meters # Minimum depth: 2362.724230 meters looking forward 50.000000 meters along route # Maximum depth: 2365.103520 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2287.724230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860799; longitude = -125.614187; captureRadius = 10; duration = 215; initialDepth = 2287.221717; finalDepth = 2287.724230; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8591290000004 # Actual altitude: 83.8591290000004 # Commanded vehicle depth: 2287.72423 # Seafloor depth: -2363.250398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 335.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 335.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.054063 meters # Minimum depth: 2362.221717 meters looking forward 50.000000 meters along route # Maximum depth: 2365.100171 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2287.221717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859924; longitude = -125.614709; captureRadius = 10; duration = 206; initialDepth = 2277.522703; finalDepth = 2287.221717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.5261680000003 # Actual altitude: 75.5261680000003 # Commanded vehicle depth: 2287.221717 # Seafloor depth: -2362.221717 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 302.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 137.863743 meters # Minimum depth: 2352.522703 meters looking forward 50.000000 meters along route # Maximum depth: 2365.524719 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2277.522703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859087; longitude = -125.615208; captureRadius = 10; duration = 275; # abortOnTimeout = True; initialDepth = 2272.215189; finalDepth = 2277.522703; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.0020159999999 # Actual altitude: 88.0020159999999 # Commanded vehicle depth: 2277.522703 # Seafloor depth: -2365.524719 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.018588 meters # Minimum depth: 2347.215189 meters looking forward 50.000000 meters along route # Maximum depth: 2352.409501 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2272.215189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857915; longitude = -125.615720; captureRadius = 10; duration = 212; initialDepth = 2265.896266; finalDepth = 2272.215189; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.0020159999999 # Actual altitude: 88.0020159999999 # Commanded vehicle depth: 2272.215189 # Seafloor depth: -2352.409501 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.018732 meters # Minimum depth: 2340.896266 meters looking forward 50.000000 meters along route # Maximum depth: 2345.919214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2265.896266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857014; longitude = -125.616114; captureRadius = 10; duration = 212; initialDepth = 2243.223549; finalDepth = 2265.896266; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.1943120000001 # Actual altitude: 80.1943120000001 # Commanded vehicle depth: 2265.896266 # Seafloor depth: -2345.919214 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 320.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 320.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 320.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.684610 meters # Minimum depth: 2318.223549 meters looking forward 50.000000 meters along route # Maximum depth: 2340.737351 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2243.223549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856113; longitude = -125.616507; captureRadius = 10; duration = 209; initialDepth = 2238.028715; finalDepth = 2243.223549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 97.5138020000004 # Actual altitude: 97.5138020000004 # Commanded vehicle depth: 2243.223549 # Seafloor depth: -2340.737351 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.25; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 141.871875 meters # Minimum depth: 2313.028715 meters looking forward 50.000000 meters along route # Maximum depth: 2317.553162 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2238.028715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855223; longitude = -125.616896; captureRadius = 10; duration = 283; # abortOnTimeout = True; initialDepth = 2238.076913; finalDepth = 2238.028715; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.5138020000004 # Actual altitude: 97.5138020000004 # Commanded vehicle depth: 2238.028715 # Seafloor depth: -2317.553162 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.25; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.434210 meters # Minimum depth: 2313.076913 meters looking forward 50.000000 meters along route # Maximum depth: 2318.761131 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2238.076913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853950; longitude = -125.617038; captureRadius = 10; duration = 200; initialDepth = 2240.973344; finalDepth = 2238.076913; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.5244470000002 # Actual altitude: 79.5244470000002 # Commanded vehicle depth: 2238.076913 # Seafloor depth: -2313.076913 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.86; MB_Bottom_Detect_Filter_Max_Range = 318.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.434211 meters # Minimum depth: 2315.973344 meters looking forward 50.000000 meters along route # Maximum depth: 2319.751699 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2240.973344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853049; longitude = -125.617138; captureRadius = 10; duration = 200; initialDepth = 2224.599191; finalDepth = 2240.973344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.7783549999999 # Actual altitude: 78.7783549999999 # Commanded vehicle depth: 2240.973344 # Seafloor depth: -2319.751699 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 315.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 315.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 315.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.186785 meters # Minimum depth: 2299.599191 meters looking forward 50.000000 meters along route # Maximum depth: 2315.116132 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2224.599191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852148; longitude = -125.617239; captureRadius = 10; duration = 204; initialDepth = 2213.637674; finalDepth = 2224.599191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 90.5169410000003 # Actual altitude: 90.5169410000003 # Commanded vehicle depth: 2224.599191 # Seafloor depth: -2315.116132 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 139.303579 meters # Minimum depth: 2288.637674 meters looking forward 50.000000 meters along route # Maximum depth: 2299.094849 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2213.637674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851231; longitude = -125.617341; captureRadius = 10; duration = 278; # abortOnTimeout = True; initialDepth = 2185.891835; finalDepth = 2213.637674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.5169410000003 # Actual altitude: 90.5169410000003 # Commanded vehicle depth: 2213.637674 # Seafloor depth: -2299.094849 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.758448 meters # Minimum depth: 2260.891835 meters looking forward 50.000000 meters along route # Maximum depth: 2287.025441 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2185.891835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849985; longitude = -125.617527; captureRadius = 10; duration = 201; initialDepth = 2184.086394; finalDepth = 2185.891835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.133606 # Actual altitude: 100 # Commanded vehicle depth: 2185.891835 # Seafloor depth: -2287.025441 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 12 # Segment length 100.758459 meters # Minimum depth: 2259.086394 meters looking forward 50.000000 meters along route # Maximum depth: 2262.849193 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2184.086394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849084; longitude = -125.617663; captureRadius = 10; duration = 201; initialDepth = 2177.464177; finalDepth = 2184.086394; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.133606 # Actual altitude: 100 # Commanded vehicle depth: 2184.086394 # Seafloor depth: -2259.742177 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 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 12 # Segment length 105.924486 meters # Minimum depth: 2252.464177 meters looking forward 50.000000 meters along route # Maximum depth: 2257.054456 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2177.464177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848183; longitude = -125.617798; captureRadius = 10; duration = 211; initialDepth = 2168.426027; finalDepth = 2177.464177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.590279 # Actual altitude: 79.590279 # Commanded vehicle depth: 2177.464177 # Seafloor depth: -2257.054456 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 318.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.88; MB_Bottom_Detect_Filter_Max_Range = 318.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 77.668232 meters # Minimum depth: 2243.426027 meters looking forward 50.000000 meters along route # Maximum depth: 2253.030090 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2168.426027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847235; longitude = -125.617940; captureRadius = 10; duration = 155; # abortOnTimeout = True; initialDepth = 2168.384462; finalDepth = 2168.426027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6040630000002 # Actual altitude: 84.6040630000002 # Commanded vehicle depth: 2168.426027 # Seafloor depth: -2253.030090 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 338.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 338.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.441793 meters # Minimum depth: 2243.384462 meters looking forward 50.000000 meters along route # Maximum depth: 2248.773871 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2168.384462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846556; longitude = -125.617733; captureRadius = 10; duration = 204; initialDepth = 2172.835312; finalDepth = 2168.384462; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6040630000002 # Actual altitude: 84.6040630000002 # Commanded vehicle depth: 2168.384462 # Seafloor depth: -2243.384462 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 338.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 338.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 107.424072 meters # Minimum depth: 2247.835312 meters looking forward 50.000000 meters along route # Maximum depth: 2251.067742 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2172.835312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845659; longitude = -125.617459; captureRadius = 10; duration = 214; initialDepth = 2172.580620; finalDepth = 2172.835312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0600089999998 # Actual altitude: 77.0600089999998 # Commanded vehicle depth: 2172.835312 # Seafloor depth: -2249.895321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 308.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 104.533949 meters # Minimum depth: 2247.580620 meters looking forward 50.000000 meters along route # Maximum depth: 2248.504002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2172.580620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844719; longitude = -125.617173; captureRadius = 10; duration = 209; initialDepth = 2165.150146; finalDepth = 2172.580620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.0600089999998 # Actual altitude: 77.0600089999998 # Commanded vehicle depth: 2172.58062 # Seafloor depth: -2247.580620 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 308.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 308.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 308.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 84.176410 meters # Minimum depth: 2240.150146 meters looking forward 50.000000 meters along route # Maximum depth: 2248.040222 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2165.150146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843805; longitude = -125.616894; captureRadius = 10; duration = 168; # abortOnTimeout = True; initialDepth = 2153.073164; finalDepth = 2165.150146; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.8900760000001 # Actual altitude: 82.8900760000001 # Commanded vehicle depth: 2165.150146 # Seafloor depth: -2248.040222 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 331.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 331.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 331.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 102.093590 meters # Minimum depth: 2228.073164 meters looking forward 50.000000 meters along route # Maximum depth: 2238.245341 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2153.073164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843136; longitude = -125.616449; captureRadius = 10; duration = 204; initialDepth = 2134.223439; finalDepth = 2153.073164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1721769999999 # Actual altitude: 85.1721769999999 # Commanded vehicle depth: 2153.073164 # Seafloor depth: -2238.245341 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 340.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 340.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 340.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.093791 meters # Minimum depth: 2209.223439 meters looking forward 50.000000 meters along route # Maximum depth: 2227.011912 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2134.223439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842325; longitude = -125.615909; captureRadius = 10; duration = 204; initialDepth = 2123.701734; finalDepth = 2134.223439; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.7884730000001 # Actual altitude: 92.7884730000001 # Commanded vehicle depth: 2134.223439 # Seafloor depth: -2227.011912 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 105.342430 meters # Minimum depth: 2198.701734 meters looking forward 50.000000 meters along route # Maximum depth: 2209.065056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2123.701734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841514; longitude = -125.615370; captureRadius = 10; duration = 210; initialDepth = 2110.579985; finalDepth = 2123.701734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 92.7884730000001 # Actual altitude: 92.7884730000001 # Commanded vehicle depth: 2123.701734 # Seafloor depth: -2209.065056 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 102.284844 meters # Minimum depth: 2185.579985 meters looking forward 50.000000 meters along route # Maximum depth: 2198.241272 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2110.579985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840677; longitude = -125.614813; captureRadius = 10; duration = 204; # abortOnTimeout = True; initialDepth = 2097.439186; finalDepth = 2110.579985; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6612870000004 # Actual altitude: 87.6612870000004 # Commanded vehicle depth: 2110.579985 # Seafloor depth: -2198.241272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.422267 meters # Minimum depth: 2172.439186 meters looking forward 50.000000 meters along route # Maximum depth: 2183.598845 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2097.439186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839892; longitude = -125.614213; captureRadius = 10; duration = 212; initialDepth = 2097.410001; finalDepth = 2097.439186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.6612870000004 # Actual altitude: 87.6612870000004 # Commanded vehicle depth: 2097.439186 # Seafloor depth: -2183.598845 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.178591 meters # Minimum depth: 2172.410001 meters looking forward 50.000000 meters along route # Maximum depth: 2175.885460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2097.410001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839075; longitude = -125.613589; captureRadius = 10; duration = 204; initialDepth = 2100.890076; finalDepth = 2097.410001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 86.1596589999999 # Actual altitude: 86.1596589999999 # Commanded vehicle depth: 2097.410001 # Seafloor depth: -2172.410001 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 344.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 344.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 344.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 141.201317 meters # Minimum depth: 2175.890076 meters looking forward 50.000000 meters along route # Maximum depth: 2211.373855 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2100.890076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838290; longitude = -125.612990; captureRadius = 10; duration = 282; # abortOnTimeout = True; initialDepth = 2137.167066; finalDepth = 2100.890076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2100.890076 # Seafloor depth: -2175.890076 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.647827 meters # Minimum depth: 2212.167066 meters looking forward 50.000000 meters along route # Maximum depth: 2230.885236 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2137.167066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837533; longitude = -125.614261; captureRadius = 10; duration = 223; initialDepth = 2157.484070; finalDepth = 2137.167066; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2137.167066 # Seafloor depth: -2212.167066 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 111.473097 meters # Minimum depth: 2232.484070 meters looking forward 50.000000 meters along route # Maximum depth: 2237.580737 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2157.484070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836934; longitude = -125.615266; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 2160.712711; finalDepth = 2157.484070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2157.48407 # Seafloor depth: -2232.484070 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.093655 meters # Minimum depth: 2235.712711 meters looking forward 50.000000 meters along route # Maximum depth: 2237.409029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2160.712711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837819; longitude = -125.615855; captureRadius = 10; duration = 204; initialDepth = 2162.165502; finalDepth = 2160.712711; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.6963179999998 # Actual altitude: 76.6963179999998 # Commanded vehicle depth: 2160.712711 # Seafloor depth: -2237.409029 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.942171 meters # Minimum depth: 2237.165502 meters looking forward 50.000000 meters along route # Maximum depth: 2240.223550 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2162.165502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838630; longitude = -125.616395; captureRadius = 10; duration = 205; initialDepth = 2164.150208; finalDepth = 2162.165502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.6963179999998 # Actual altitude: 76.6963179999998 # Commanded vehicle depth: 2162.165502 # Seafloor depth: -2237.165502 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 306.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 306.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 306.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 121.889164 meters # Minimum depth: 2239.150208 meters looking forward 50.000000 meters along route # Maximum depth: 2253.651673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2164.150208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839448; longitude = -125.616939; captureRadius = 10; duration = 243; # abortOnTimeout = True; initialDepth = 2179.958427; finalDepth = 2164.150208; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2164.150208 # Seafloor depth: -2239.150208 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.410266 meters # Minimum depth: 2254.958427 meters looking forward 50.000000 meters along route # Maximum depth: 2259.869729 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2179.958427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840433; longitude = -125.617544; captureRadius = 10; duration = 200; initialDepth = 2185.987219; finalDepth = 2179.958427; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2179.958427 # Seafloor depth: -2254.958427 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.410093 meters # Minimum depth: 2260.987219 meters looking forward 50.000000 meters along route # Maximum depth: 2263.267773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2185.987219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841244; longitude = -125.618042; captureRadius = 10; duration = 200; initialDepth = 2186.574260; finalDepth = 2185.987219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2185.987219 # Seafloor depth: -2260.987219 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 106.732323 meters # Minimum depth: 2261.574260 meters looking forward 50.000000 meters along route # Maximum depth: 2282.683766 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2186.574260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842055; longitude = -125.618540; captureRadius = 10; duration = 213; initialDepth = 2207.586792; finalDepth = 2186.574260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2186.57426 # Seafloor depth: -2261.574260 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 149.243967 meters # Minimum depth: 2282.586792 meters looking forward 50.000000 meters along route # Maximum depth: 2294.262552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2207.586792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842917; longitude = -125.619070; captureRadius = 10; duration = 298; # abortOnTimeout = True; initialDepth = 2219.878313; finalDepth = 2207.586792; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2207.586792 # Seafloor depth: -2282.586792 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.402420 meters # Minimum depth: 2294.878313 meters looking forward 50.000000 meters along route # Maximum depth: 2302.768670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2219.878313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844217; longitude = -125.619493; captureRadius = 10; duration = 206; initialDepth = 2229.091242; finalDepth = 2219.878313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2219.878313 # Seafloor depth: -2294.878313 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.402372 meters # Minimum depth: 2304.091242 meters looking forward 50.000000 meters along route # Maximum depth: 2309.436922 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2229.091242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845119; longitude = -125.619787; captureRadius = 10; duration = 206; initialDepth = 2231.042012; finalDepth = 2229.091242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2229.091242 # Seafloor depth: -2304.091242 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.191300 meters # Minimum depth: 2306.042012 meters looking forward 50.000000 meters along route # Maximum depth: 2315.629953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2231.042012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846020; longitude = -125.620080; captureRadius = 10; duration = 202; initialDepth = 2241.996155; finalDepth = 2231.042012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2231.042012 # Seafloor depth: -2306.042012 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 102.638670 meters # Minimum depth: 2316.996155 meters looking forward 50.000000 meters along route # Maximum depth: 2330.698849 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2241.996155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846902; longitude = -125.620367; captureRadius = 10; duration = 205; # abortOnTimeout = True; initialDepth = 2256.324041; finalDepth = 2241.996155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2241.996155 # Seafloor depth: -2316.996155 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.489919 meters # Minimum depth: 2331.324041 meters looking forward 50.000000 meters along route # Maximum depth: 2339.363004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2256.324041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847822; longitude = -125.620258; captureRadius = 10; duration = 200; initialDepth = 2265.075826; finalDepth = 2256.324041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2256.324041 # Seafloor depth: -2331.324041 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.489917 meters # Minimum depth: 2340.075826 meters looking forward 50.000000 meters along route # Maximum depth: 2341.070790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2265.075826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848723; longitude = -125.620151; captureRadius = 10; duration = 200; initialDepth = 2257.924512; finalDepth = 2265.075826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0057810000003 # Actual altitude: 75.0057810000003 # Commanded vehicle depth: 2265.075826 # Seafloor depth: -2340.081607 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.489914 meters # Minimum depth: 2332.924512 meters looking forward 50.000000 meters along route # Maximum depth: 2339.720700 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2257.924512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849625; longitude = -125.620044; captureRadius = 10; duration = 200; initialDepth = 2258.114679; finalDepth = 2257.924512; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.7961879999998 # Actual altitude: 81.7961879999998 # Commanded vehicle depth: 2257.924512 # Seafloor depth: -2339.720700 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.753589 meters # Minimum depth: 2333.114679 meters looking forward 50.000000 meters along route # Maximum depth: 2351.039368 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2258.114679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850526; longitude = -125.619937; captureRadius = 10; duration = 207; initialDepth = 2273.345679; finalDepth = 2258.114679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.7961879999998 # Actual altitude: 81.7961879999998 # Commanded vehicle depth: 2258.114679 # Seafloor depth: -2333.114679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 327.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 327.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 327.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 147.564255 meters # Minimum depth: 2348.345679 meters looking forward 50.000000 meters along route # Maximum depth: 2351.830872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2273.345679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851456; longitude = -125.619826; captureRadius = 10; duration = 295; # abortOnTimeout = True; initialDepth = 2256.377684; finalDepth = 2273.345679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.485193 # Actual altitude: 78.485193 # Commanded vehicle depth: 2273.345679 # Seafloor depth: -2351.830872 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 313.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 313.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 313.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.553322 meters # Minimum depth: 2331.377684 meters looking forward 50.000000 meters along route # Maximum depth: 2349.401500 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2256.377684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852779; longitude = -125.619658; captureRadius = 10; duration = 201; initialDepth = 2258.239675; finalDepth = 2256.377684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.0238159999999 # Actual altitude: 93.0238159999999 # Commanded vehicle depth: 2256.377684 # Seafloor depth: -2349.401500 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.553318 meters # Minimum depth: 2333.239675 meters looking forward 50.000000 meters along route # Maximum depth: 2352.970831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2258.239675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853680; longitude = -125.619544; captureRadius = 10; duration = 201; initialDepth = 2278.869338; finalDepth = 2258.239675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.0238159999999 # Actual altitude: 93.0238159999999 # Commanded vehicle depth: 2258.239675 # Seafloor depth: -2333.239675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 107.381576 meters # Minimum depth: 2353.869338 meters looking forward 50.000000 meters along route # Maximum depth: 2366.631456 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2278.869338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854581; longitude = -125.619430; captureRadius = 10; duration = 214; initialDepth = 2283.978190; finalDepth = 2278.869338; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2278.869338 # Seafloor depth: -2353.869338 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 104.461889 meters # Minimum depth: 2358.978190 meters looking forward 50.000000 meters along route # Maximum depth: 2367.420288 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2283.978190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855543; longitude = -125.619307; captureRadius = 10; duration = 208; # abortOnTimeout = True; initialDepth = 2283.944930; finalDepth = 2283.978190; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.442098 # Actual altitude: 83.442098 # Commanded vehicle depth: 2283.97819 # Seafloor depth: -2367.420288 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 333.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.286488 meters # Minimum depth: 2358.944930 meters looking forward 50.000000 meters along route # Maximum depth: 2367.649037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2283.944930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856410; longitude = -125.618853; captureRadius = 10; duration = 210; initialDepth = 2292.765068; finalDepth = 2283.944930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.442098 # Actual altitude: 83.442098 # Commanded vehicle depth: 2283.94493 # Seafloor depth: -2358.944930 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 333.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 333.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 333.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 100.445796 meters # Minimum depth: 2367.765068 meters looking forward 50.000000 meters along route # Maximum depth: 2368.521870 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2292.765068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857284; longitude = -125.618394; captureRadius = 10; duration = 200; initialDepth = 2291.646205; finalDepth = 2292.765068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2292.765068 # Seafloor depth: -2367.765068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.865864 meters # Minimum depth: 2366.646205 meters looking forward 50.000000 meters along route # Maximum depth: 2370.436588 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2291.646205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858118; longitude = -125.617957; captureRadius = 10; duration = 205; initialDepth = 2296.850961; finalDepth = 2291.646205; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2814560000002 # Actual altitude: 76.2814560000002 # Commanded vehicle depth: 2291.646205 # Seafloor depth: -2367.927661 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 305.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.865678 meters # Minimum depth: 2371.850961 meters looking forward 50.000000 meters along route # Maximum depth: 2378.426396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2296.850961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858972; longitude = -125.617509; captureRadius = 10; duration = 205; initialDepth = 2302.783817; finalDepth = 2296.850961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.2814560000002 # Actual altitude: 76.2814560000002 # Commanded vehicle depth: 2296.850961 # Seafloor depth: -2371.850961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 305.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 305.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.865494 meters # Minimum depth: 2377.783817 meters looking forward 50.000000 meters along route # Maximum depth: 2379.815064 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2302.783817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859826; longitude = -125.617061; captureRadius = 10; duration = 205; initialDepth = 2278.584087; finalDepth = 2302.783817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7368620000002 # Actual altitude: 75.7368620000002 # Commanded vehicle depth: 2302.783817 # Seafloor depth: -2378.520679 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 302.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 302.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 302.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.865308 meters # Minimum depth: 2353.584087 meters looking forward 50.000000 meters along route # Maximum depth: 2376.895988 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2278.584087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860680; longitude = -125.616613; captureRadius = 10; duration = 205; initialDepth = 2266.837596; finalDepth = 2278.584087; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.311901 # Actual altitude: 98.311901 # Commanded vehicle depth: 2278.584087 # Seafloor depth: -2376.895988 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.865123 meters # Minimum depth: 2341.837596 meters looking forward 50.000000 meters along route # Maximum depth: 2353.311544 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2266.837596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861534; longitude = -125.616165; captureRadius = 10; duration = 205; initialDepth = 2268.708020; finalDepth = 2266.837596; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.311901 # Actual altitude: 98.311901 # Commanded vehicle depth: 2266.837596 # Seafloor depth: -2353.311544 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.49; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.864938 meters # Minimum depth: 2343.708020 meters looking forward 50.000000 meters along route # Maximum depth: 2376.368323 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2268.708020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862388; longitude = -125.615717; captureRadius = 10; duration = 205; initialDepth = 2301.705879; finalDepth = 2268.708020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.4739480000003 # Actual altitude: 86.4739480000003 # Commanded vehicle depth: 2268.70802 # Seafloor depth: -2343.708020 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 345.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 345.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 345.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.777092 meters # Minimum depth: 2376.705879 meters looking forward 50.000000 meters along route # Maximum depth: 2395.308506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2301.705879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863242; longitude = -125.615269; captureRadius = 10; duration = 215; initialDepth = 2305.094417; finalDepth = 2301.705879; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2301.705879 # Seafloor depth: -2376.705879 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 166.215899 meters # Minimum depth: 2380.094417 meters looking forward 50.000000 meters along route # Maximum depth: 2395.666077 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2305.094417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.864136; longitude = -125.614800; captureRadius = 10; duration = 332; # abortOnTimeout = True; initialDepth = 2301.068898; finalDepth = 2305.094417; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.5716600000001 # Actual altitude: 90.5716600000001 # Commanded vehicle depth: 2305.094417 # Seafloor depth: -2395.666077 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.415464 meters # Minimum depth: 2376.068898 meters looking forward 50.000000 meters along route # Maximum depth: 2387.590186 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2301.068898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.863354; longitude = -125.616389; captureRadius = 10; duration = 210; initialDepth = 2313.705665; finalDepth = 2301.068898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.5716600000001 # Actual altitude: 90.5716600000001 # Commanded vehicle depth: 2301.068898 # Seafloor depth: -2378.561712 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.17; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.416012 meters # Minimum depth: 2388.705665 meters looking forward 50.000000 meters along route # Maximum depth: 2405.002365 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2313.705665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862859; longitude = -125.617397; captureRadius = 10; duration = 210; initialDepth = 2331.030889; finalDepth = 2313.705665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4928140000002 # Actual altitude: 77.4928140000002 # Commanded vehicle depth: 2313.705665 # Seafloor depth: -2388.705665 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 309.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 309.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.416561 meters # Minimum depth: 2406.030889 meters looking forward 50.000000 meters along route # Maximum depth: 2410.583439 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2331.030889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862363; longitude = -125.618405; captureRadius = 10; duration = 210; initialDepth = 2335.118156; finalDepth = 2331.030889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2331.030889 # Seafloor depth: -2406.030889 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.417110 meters # Minimum depth: 2410.118156 meters looking forward 50.000000 meters along route # Maximum depth: 2413.149244 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2335.118156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861867; longitude = -125.619412; captureRadius = 10; duration = 210; initialDepth = 2336.104252; finalDepth = 2335.118156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2335.118156 # Seafloor depth: -2410.118156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.417658 meters # Minimum depth: 2411.104252 meters looking forward 50.000000 meters along route # Maximum depth: 2414.165715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2336.104252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861371; longitude = -125.620420; captureRadius = 10; duration = 210; initialDepth = 2338.704414; finalDepth = 2336.104252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2336.104252 # Seafloor depth: -2411.104252 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 105.418206 meters # Minimum depth: 2413.704414 meters looking forward 50.000000 meters along route # Maximum depth: 2416.305025 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2338.704414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860875; longitude = -125.621428; captureRadius = 10; duration = 210; initialDepth = 2341.333652; finalDepth = 2338.704414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2338.704414 # Seafloor depth: -2413.704414 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.391678 meters # Minimum depth: 2416.333652 meters looking forward 50.000000 meters along route # Maximum depth: 2422.170775 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 3056.157114 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 75.000000 meters # Behavior depth of 2341.333652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860379; longitude = -125.622436; captureRadius = 10; duration = 202; initialDepth = 2344.810878; finalDepth = 2341.333652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 2341.333652 # Seafloor depth: -2416.333652 # behavior reson { duration = RESON_DURATION; LoSS_Range = 200.00; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 1 # Commanded altitude: 77.4268540000003 # Sonar parameter altitude: 77.4268540000003 # Commanded vehicle depth: 2344.810878 # Seafloor depth: -2422.237732 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 220; MB_Range = 309.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.23; MB_Bottom_Detect_Filter_Max_Range = 309.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 101.391678 meters # Minimum depth: 2419.810878 meters looking forward 50.000000 meters along route # Maximum depth: 2422.237732 meters looking forward 50.000000 meters along route # Vehicle depth: 2344.810878 meters behavior waypoint { latitude = 36.859902; longitude = -125.623406; captureRadius = 10; duration = 1172; depth = 2344.810878; speed = MISSION_SPEED; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 2344.810878 meters set by local depth and desired altitude behavior descend { duration = 6963; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = SPIRAL_DESCENT_DEPTH; minAltitude = SPIRAL_DESCENT_ALTITUDE; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 101.391678 meters # Minimum depth: 2419.810878 meters looking forward 50.000000 meters along route # Maximum depth: 2422.237732 meters looking forward 50.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.859902; longitude = -125.623406; captureRadius = 10; duration = 1000; depth = 30.000000; speed = MISSION_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 60.091573; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 60.091573; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 400.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 300.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 300.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # 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