# 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: test2.rte # Mission File: test2.cfg # Distance: 2393.189250 (m) # Estimated Time: 3365 (s) 0.935 (hr) # Abort Time: 4375 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 91 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 40 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 50 (m) # Abort Vehicle Depth: 75 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 25 (m) # Start Longitude: -121.866621 (deg) # Start Latitude: 36.81055 (deg) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.866098 36.808888 -79.484426 0.000000 1 # 1 -121.859373 36.805974 -257.263468 681.440440 1 # 2 -121.841442 36.811465 -141.956136 2393.189250 1 # # A total of 91 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 2393.189250 #define MISSION_TIME 3365 #define MISSION_TIMEOUT 4375 #define DEPTH_MAX 50.000000 #define DEPTH_ABORT 75.000000 #define ALTITUDE_DESIRED 50.000000 #define ALTITUDE_MIN 40.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 2 # Segment length 24.962287 meters # Minimum depth: 141.762278 meters looking forward 100.000000 meters along route # Maximum depth: 142.259280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.811465; longitude = -121.841442; captureRadius = 10; duration = 24; # abortOnTimeout = True; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.956136 # Actual altitude: 91.956136 # Commanded vehicle depth:50 # Seafloor depth:-141.956136 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 367.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 36.78; MB_Bottom_Detect_Filter_Max_Range = 367.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745332 meters # Minimum depth: 141.682862 meters looking forward 100.000000 meters along route # Maximum depth: 142.303522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.811385; longitude = -121.841703; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.175939 # Actual altitude: 92.175939 # Commanded vehicle depth:50 # Seafloor depth:-142.175939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 368.70; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 36.87; MB_Bottom_Detect_Filter_Max_Range = 368.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745356 meters # Minimum depth: 141.682862 meters looking forward 100.000000 meters along route # Maximum depth: 142.663975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.811299; longitude = -121.841984; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.190063 # Actual altitude: 92.190063 # Commanded vehicle depth:50 # Seafloor depth:-142.190063 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 368.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 368.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745380 meters # Minimum depth: 141.682862 meters looking forward 100.000000 meters along route # Maximum depth: 143.613526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.811214; longitude = -121.842264; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.190063 # Actual altitude: 92.190063 # Commanded vehicle depth:50 # Seafloor depth:-142.131566 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 368.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 368.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745404 meters # Minimum depth: 141.682862 meters looking forward 100.000000 meters along route # Maximum depth: 145.195648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.811128; longitude = -121.842544; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.776169 # Actual altitude: 93.776169 # Commanded vehicle depth:50 # Seafloor depth:-143.776169 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 375.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 37.51; MB_Bottom_Detect_Filter_Max_Range = 375.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745429 meters # Minimum depth: 142.131566 meters looking forward 100.000000 meters along route # Maximum depth: 145.393400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.811042; longitude = -121.842824; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.235016 # Actual altitude: 94.235016 # Commanded vehicle depth:50 # Seafloor depth:-144.235016 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 376.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 37.69; MB_Bottom_Detect_Filter_Max_Range = 376.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.618774 meters # Minimum depth: 143.005971 meters looking forward 100.000000 meters along route # Maximum depth: 146.000405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810956; longitude = -121.843104; captureRadius = 10; duration = 27; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.465569 # Actual altitude: 94.465569 # Commanded vehicle depth:50 # Seafloor depth:-144.465569 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 377.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 37.79; MB_Bottom_Detect_Filter_Max_Range = 377.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.872156 meters # Minimum depth: 143.974762 meters looking forward 100.000000 meters along route # Maximum depth: 147.025687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810868; longitude = -121.843394; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.801024 # Actual altitude: 95.801024 # Commanded vehicle depth:50 # Seafloor depth:-145.801024 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 383.20; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 38.32; MB_Bottom_Detect_Filter_Max_Range = 383.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745502 meters # Minimum depth: 144.465569 meters looking forward 100.000000 meters along route # Maximum depth: 147.700915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810785; longitude = -121.843665; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.05805 # Actual altitude: 97.05805 # Commanded vehicle depth:50 # Seafloor depth:-147.058050 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 388.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 388.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745526 meters # Minimum depth: 145.745450 meters looking forward 100.000000 meters along route # Maximum depth: 147.700915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810699; longitude = -121.843945; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.05805 # Actual altitude: 97.05805 # Commanded vehicle depth:50 # Seafloor depth:-146.456120 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 388.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 38.82; MB_Bottom_Detect_Filter_Max_Range = 388.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745551 meters # Minimum depth: 146.445095 meters looking forward 100.000000 meters along route # Maximum depth: 147.854614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810613; longitude = -121.844225; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.12359 # Actual altitude: 97.12359 # Commanded vehicle depth:50 # Seafloor depth:-147.123590 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 388.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 38.85; MB_Bottom_Detect_Filter_Max_Range = 388.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745574 meters # Minimum depth: 146.445095 meters looking forward 100.000000 meters along route # Maximum depth: 148.201143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810527; longitude = -121.844505; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.279555 # Actual altitude: 97.279555 # Commanded vehicle depth:50 # Seafloor depth:-147.279555 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 389.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 38.91; MB_Bottom_Detect_Filter_Max_Range = 389.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745599 meters # Minimum depth: 146.445095 meters looking forward 100.000000 meters along route # Maximum depth: 148.683039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810441; longitude = -121.844785; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.391999 # Actual altitude: 98.391999 # Commanded vehicle depth:50 # Seafloor depth:-148.391999 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 393.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.36; MB_Bottom_Detect_Filter_Max_Range = 393.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745624 meters # Minimum depth: 147.278316 meters looking forward 100.000000 meters along route # Maximum depth: 149.393524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810356; longitude = -121.845066; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.462728 # Actual altitude: 98.462728 # Commanded vehicle depth:50 # Seafloor depth:-148.462728 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 393.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.39; MB_Bottom_Detect_Filter_Max_Range = 393.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745647 meters # Minimum depth: 147.712821 meters looking forward 100.000000 meters along route # Maximum depth: 149.524423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810270; longitude = -121.845346; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.906067 # Actual altitude: 98.906067 # Commanded vehicle depth:50 # Seafloor depth:-148.906067 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 395.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.56; MB_Bottom_Detect_Filter_Max_Range = 395.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745672 meters # Minimum depth: 148.391911 meters looking forward 100.000000 meters along route # Maximum depth: 149.785976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810184; longitude = -121.845626; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.294754 # Actual altitude: 99.294754 # Commanded vehicle depth:50 # Seafloor depth:-149.294754 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 397.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.72; MB_Bottom_Detect_Filter_Max_Range = 397.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745697 meters # Minimum depth: 148.472987 meters looking forward 100.000000 meters along route # Maximum depth: 149.785976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810098; longitude = -121.845906; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.294754 # Actual altitude: 99.294754 # Commanded vehicle depth:50 # Seafloor depth:-149.282615 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 397.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.72; MB_Bottom_Detect_Filter_Max_Range = 397.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745720 meters # Minimum depth: 148.550247 meters looking forward 100.000000 meters along route # Maximum depth: 149.785976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.810012; longitude = -121.846186; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.282615 # Actual altitude: 99.282615 # Commanded vehicle depth:50 # Seafloor depth:-148.871676 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 397.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.71; MB_Bottom_Detect_Filter_Max_Range = 397.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745746 meters # Minimum depth: 148.523452 meters looking forward 100.000000 meters along route # Maximum depth: 149.785976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809927; longitude = -121.846466; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.871676 # Actual altitude: 98.871676 # Commanded vehicle depth:50 # Seafloor depth:-148.870599 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 395.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 395.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745769 meters # Minimum depth: 147.585612 meters looking forward 100.000000 meters along route # Maximum depth: 149.498659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809841; longitude = -121.846747; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.870599 # Actual altitude: 98.870599 # Commanded vehicle depth:50 # Seafloor depth:-148.666802 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 395.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.55; MB_Bottom_Detect_Filter_Max_Range = 395.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745794 meters # Minimum depth: 146.796705 meters looking forward 100.000000 meters along route # Maximum depth: 149.498659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809755; longitude = -121.847027; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.666802 # Actual altitude: 98.666802 # Commanded vehicle depth:50 # Seafloor depth:-147.992481 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 394.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.47; MB_Bottom_Detect_Filter_Max_Range = 394.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 296.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.164984 meters # Minimum depth: 146.796705 meters looking forward 100.000000 meters along route # Maximum depth: 149.079375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809669; longitude = -121.847307; captureRadius = 10; duration = 28; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.992481 # Actual altitude: 97.992481 # Commanded vehicle depth:50 # Seafloor depth:-147.870321 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 391.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 391.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.326676 meters # Minimum depth: 146.796705 meters looking forward 100.000000 meters along route # Maximum depth: 149.415802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809579; longitude = -121.847602; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.524579 # Actual altitude: 98.524579 # Commanded vehicle depth:50 # Seafloor depth:-148.524579 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 394.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.41; MB_Bottom_Detect_Filter_Max_Range = 394.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.073367 meters # Minimum depth: 147.492714 meters looking forward 100.000000 meters along route # Maximum depth: 151.120382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809498; longitude = -121.847867; captureRadius = 10; duration = 27; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.609939 # Actual altitude: 99.609939 # Commanded vehicle depth:50 # Seafloor depth:-149.609939 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 398.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 39.84; MB_Bottom_Detect_Filter_Max_Range = 398.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.418390 meters # Minimum depth: 147.872772 meters looking forward 100.000000 meters along route # Maximum depth: 152.691265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809411; longitude = -121.848151; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.889322 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-150.889322 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745916 meters # Minimum depth: 148.325258 meters looking forward 100.000000 meters along route # Maximum depth: 156.222920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809326; longitude = -121.848428; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.982779 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-152.982779 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745939 meters # Minimum depth: 149.749014 meters looking forward 100.000000 meters along route # Maximum depth: 156.926814 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809240; longitude = -121.848708; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.388502 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-156.388502 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745964 meters # Minimum depth: 152.032922 meters looking forward 100.000000 meters along route # Maximum depth: 159.002647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809154; longitude = -121.848988; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.617811 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-157.617811 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.745989 meters # Minimum depth: 153.075310 meters looking forward 100.000000 meters along route # Maximum depth: 162.939117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.809069; longitude = -121.849268; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.087373 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-159.087373 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746012 meters # Minimum depth: 156.587950 meters looking forward 100.000000 meters along route # Maximum depth: 166.138442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808983; longitude = -121.849548; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.335203 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-163.335203 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746037 meters # Minimum depth: 157.335687 meters looking forward 100.000000 meters along route # Maximum depth: 168.663905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808897; longitude = -121.849829; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.487774 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-166.487774 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746062 meters # Minimum depth: 161.292133 meters looking forward 100.000000 meters along route # Maximum depth: 171.581869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808811; longitude = -121.850109; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.501624 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-169.501624 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746085 meters # Minimum depth: 163.794235 meters looking forward 100.000000 meters along route # Maximum depth: 174.148568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808725; longitude = -121.850389; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.316127 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-172.316127 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746110 meters # Minimum depth: 167.699999 meters looking forward 100.000000 meters along route # Maximum depth: 175.457994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808640; longitude = -121.850669; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 124.592685 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-174.592685 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746135 meters # Minimum depth: 170.435984 meters looking forward 100.000000 meters along route # Maximum depth: 177.645799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808554; longitude = -121.850949; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 126.093759 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-176.093759 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746158 meters # Minimum depth: 172.803496 meters looking forward 100.000000 meters along route # Maximum depth: 178.326256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808468; longitude = -121.851229; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 127.78642 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-177.786420 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746183 meters # Minimum depth: 175.127782 meters looking forward 100.000000 meters along route # Maximum depth: 179.698996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808382; longitude = -121.851510; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 128.538328 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-178.538328 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746208 meters # Minimum depth: 177.216262 meters looking forward 100.000000 meters along route # Maximum depth: 180.873065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808296; longitude = -121.851790; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 130.774284 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-180.774284 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.619578 meters # Minimum depth: 178.106285 meters looking forward 100.000000 meters along route # Maximum depth: 184.312455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808210; longitude = -121.852070; captureRadius = 10; duration = 27; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.757268 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-181.757268 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.872909 meters # Minimum depth: 178.772678 meters looking forward 100.000000 meters along route # Maximum depth: 186.322655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808122; longitude = -121.852359; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 134.197272 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-184.197272 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746281 meters # Minimum depth: 180.070801 meters looking forward 100.000000 meters along route # Maximum depth: 190.081039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.808039; longitude = -121.852630; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 136.713305 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-186.713305 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746304 meters # Minimum depth: 183.200127 meters looking forward 100.000000 meters along route # Maximum depth: 192.439274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807953; longitude = -121.852911; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 139.854986 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-189.854986 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746329 meters # Minimum depth: 185.861646 meters looking forward 100.000000 meters along route # Maximum depth: 196.081539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807867; longitude = -121.853191; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 142.553661 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-192.553661 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746354 meters # Minimum depth: 187.939489 meters looking forward 100.000000 meters along route # Maximum depth: 196.669237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807781; longitude = -121.853471; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 146.092982 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-196.092982 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746377 meters # Minimum depth: 191.450846 meters looking forward 100.000000 meters along route # Maximum depth: 196.669237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807696; longitude = -121.853751; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 146.092982 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-196.031976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746402 meters # Minimum depth: 193.178975 meters looking forward 100.000000 meters along route # Maximum depth: 196.669237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807610; longitude = -121.854031; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 146.031976 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-195.324025 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746427 meters # Minimum depth: 192.518282 meters looking forward 100.000000 meters along route # Maximum depth: 196.669237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807524; longitude = -121.854311; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 145.324025 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-193.664735 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746450 meters # Minimum depth: 192.311533 meters looking forward 100.000000 meters along route # Maximum depth: 195.749160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807438; longitude = -121.854592; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 143.664735 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-192.311533 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746475 meters # Minimum depth: 192.311533 meters looking forward 100.000000 meters along route # Maximum depth: 199.156272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807352; longitude = -121.854872; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 143.784464 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-193.784464 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746500 meters # Minimum depth: 192.311533 meters looking forward 100.000000 meters along route # Maximum depth: 209.351303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807267; longitude = -121.855152; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 151.235418 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-201.235418 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746523 meters # Minimum depth: 193.014383 meters looking forward 100.000000 meters along route # Maximum depth: 218.165456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807181; longitude = -121.855432; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 161.142405 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-211.142405 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746548 meters # Minimum depth: 196.174636 meters looking forward 100.000000 meters along route # Maximum depth: 230.077444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807095; longitude = -121.855712; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 173.287532 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-223.287532 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746573 meters # Minimum depth: 204.024990 meters looking forward 100.000000 meters along route # Maximum depth: 233.736237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807009; longitude = -121.855992; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 181.554673 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-231.554673 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.165804 meters # Minimum depth: 216.047504 meters looking forward 100.000000 meters along route # Maximum depth: 235.307398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806923; longitude = -121.856273; captureRadius = 10; duration = 28; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 183.668583 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-233.668583 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.327414 meters # Minimum depth: 224.051192 meters looking forward 100.000000 meters along route # Maximum depth: 235.780516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806833; longitude = -121.856568; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 185.267444 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-235.267444 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.074155 meters # Minimum depth: 232.323042 meters looking forward 100.000000 meters along route # Maximum depth: 236.490079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806752; longitude = -121.856833; captureRadius = 10; duration = 27; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 185.92458 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-235.924580 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.419160 meters # Minimum depth: 233.005516 meters looking forward 100.000000 meters along route # Maximum depth: 236.490079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806665; longitude = -121.857117; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 185.92458 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-234.885237 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746694 meters # Minimum depth: 233.005516 meters looking forward 100.000000 meters along route # Maximum depth: 236.490079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806580; longitude = -121.857393; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 184.885237 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-234.295282 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746718 meters # Minimum depth: 233.005516 meters looking forward 100.000000 meters along route # Maximum depth: 238.415170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806494; longitude = -121.857674; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 185.292398 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-235.292398 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746743 meters # Minimum depth: 233.005516 meters looking forward 100.000000 meters along route # Maximum depth: 241.631837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806409; longitude = -121.857954; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 189.624718 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-239.624718 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746767 meters # Minimum depth: 234.358152 meters looking forward 100.000000 meters along route # Maximum depth: 241.631837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806323; longitude = -121.858234; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 191.604068 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-241.604068 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746792 meters # Minimum depth: 235.822925 meters looking forward 100.000000 meters along route # Maximum depth: 244.154695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806237; longitude = -121.858514; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 191.604068 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-240.938945 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.746816 meters # Minimum depth: 239.627589 meters looking forward 100.000000 meters along route # Maximum depth: 251.706602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806151; longitude = -121.858794; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 194.796225 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-244.796225 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.529963 meters # Minimum depth: 240.469879 meters looking forward 100.000000 meters along route # Maximum depth: 257.195241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806065; longitude = -121.859074; captureRadius = 10; duration = 28; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 201.264238 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-251.264238 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 17.473094 meters # Minimum depth: 240.469879 meters looking forward 100.000000 meters along route # Maximum depth: 257.263468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.805974; longitude = -121.859373; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 207.263468 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-257.263468 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209615 meters # Minimum depth: 244.796225 meters looking forward 100.000000 meters along route # Maximum depth: 257.263468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806049; longitude = -121.859546; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 207.263468 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-253.709768 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209583 meters # Minimum depth: 242.417741 meters looking forward 100.000000 meters along route # Maximum depth: 257.263468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806161; longitude = -121.859804; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 203.709768 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-250.207903 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209553 meters # Minimum depth: 234.335327 meters looking forward 100.000000 meters along route # Maximum depth: 257.263468 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806273; longitude = -121.860063; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 200.207903 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-241.474172 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.937563 meters # Minimum depth: 230.553552 meters looking forward 100.000000 meters along route # Maximum depth: 254.017774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806385; longitude = -121.860322; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 191.474172 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-233.955038 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.481449 meters # Minimum depth: 227.517149 meters looking forward 100.000000 meters along route # Maximum depth: 247.668214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806500; longitude = -121.860587; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 183.955038 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-230.416022 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209460 meters # Minimum depth: 217.720810 meters looking forward 100.000000 meters along route # Maximum depth: 239.611129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806609; longitude = -121.860839; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 180.416022 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-226.775156 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209428 meters # Minimum depth: 211.370116 meters looking forward 100.000000 meters along route # Maximum depth: 231.752342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806721; longitude = -121.861097; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 176.775156 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-217.566675 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209398 meters # Minimum depth: 197.052610 meters looking forward 100.000000 meters along route # Maximum depth: 229.789893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806833; longitude = -121.861356; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 167.566675 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-209.406961 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.500581 meters # Minimum depth: 187.506470 meters looking forward 100.000000 meters along route # Maximum depth: 223.944355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.806945; longitude = -121.861615; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 159.406961 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-197.097346 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.918121 meters # Minimum depth: 178.428452 meters looking forward 100.000000 meters along route # Maximum depth: 216.750473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807058; longitude = -121.861876; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 147.097346 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-187.479834 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209304 meters # Minimum depth: 167.475764 meters looking forward 100.000000 meters along route # Maximum depth: 205.720617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807169; longitude = -121.862132; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 137.479834 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-177.291951 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.374130 meters # Minimum depth: 155.858998 meters looking forward 100.000000 meters along route # Maximum depth: 193.149176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807281; longitude = -121.862391; captureRadius = 10; duration = 27; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 127.291951 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-166.803701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.044386 meters # Minimum depth: 147.075846 meters looking forward 100.000000 meters along route # Maximum depth: 184.716572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807398; longitude = -121.862661; captureRadius = 10; duration = 25; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.803701 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-155.336701 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209212 meters # Minimum depth: 134.944975 meters looking forward 100.000000 meters along route # Maximum depth: 173.775079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807506; longitude = -121.862908; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.336701 # Actual altitude: 100 # Commanded vehicle depth:50 # Seafloor depth:-145.875513 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; 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 = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209180 meters # Minimum depth: 123.034289 meters looking forward 100.000000 meters along route # Maximum depth: 163.308927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807618; longitude = -121.863166; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.875513 # Actual altitude: 95.875513 # Commanded vehicle depth:50 # Seafloor depth:-134.873670 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 383.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 38.35; MB_Bottom_Detect_Filter_Max_Range = 383.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209150 meters # Minimum depth: 109.663049 meters looking forward 100.000000 meters along route # Maximum depth: 152.376177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.807730; longitude = -121.863425; captureRadius = 10; duration = 26; initialDepth = 50.000000; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.87367 # Actual altitude: 84.87367 # Commanded vehicle depth:50 # Seafloor depth:-120.307976 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 339.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 33.95; MB_Bottom_Detect_Filter_Max_Range = 339.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.937149 meters # Minimum depth: 96.392376 meters looking forward 100.000000 meters along route # Maximum depth: 144.003930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.392376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807842; longitude = -121.863684; captureRadius = 10; duration = 26; initialDepth = 46.392376; finalDepth = 50.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.307976 # Actual altitude: 70.307976 # Commanded vehicle depth:46.392376 # Seafloor depth:-108.934635 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 281.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 28.12; MB_Bottom_Detect_Filter_Max_Range = 281.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.481057 meters # Minimum depth: 87.870298 meters looking forward 100.000000 meters along route # Maximum depth: 136.107303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 37.870298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807957; longitude = -121.863950; captureRadius = 10; duration = 25; initialDepth = 37.870298; finalDepth = 46.392376; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.542259 # Actual altitude: 62.542259 # Commanded vehicle depth:37.870298 # Seafloor depth:-95.975310 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 250.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 250.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209056 meters # Minimum depth: 83.930516 meters looking forward 100.000000 meters along route # Maximum depth: 116.470672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 33.930516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808066; longitude = -121.864201; captureRadius = 10; duration = 26; initialDepth = 33.930516; finalDepth = 37.870298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.105012 # Actual altitude: 58.105012 # Commanded vehicle depth:33.930516 # Seafloor depth:-87.210920 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 232.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 232.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.209026 meters # Minimum depth: 82.170388 meters looking forward 100.000000 meters along route # Maximum depth: 103.810105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 32.170388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808178; longitude = -121.864460; captureRadius = 10; duration = 26; initialDepth = 32.170388; finalDepth = 33.930516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.280404 # Actual altitude: 53.280404 # Commanded vehicle depth:32.170388 # Seafloor depth:-83.896890 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 213.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.208994 meters # Minimum depth: 81.351334 meters looking forward 100.000000 meters along route # Maximum depth: 94.084480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 31.351334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808290; longitude = -121.864718; captureRadius = 10; duration = 26; initialDepth = 31.351334; finalDepth = 32.170388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.726502 # Actual altitude: 51.726502 # Commanded vehicle depth:31.351334 # Seafloor depth:-82.342131 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 206.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.500174 meters # Minimum depth: 80.769831 meters looking forward 100.000000 meters along route # Maximum depth: 86.188424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 30.769831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808402; longitude = -121.864977; captureRadius = 10; duration = 26; initialDepth = 30.769831; finalDepth = 31.351334; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.990797 # Actual altitude: 50.990797 # Commanded vehicle depth:30.769831 # Seafloor depth:-81.514236 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 203.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.393008 meters # Minimum depth: 79.872804 meters looking forward 100.000000 meters along route # Maximum depth: 83.152422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.872804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808515; longitude = -121.865238; captureRadius = 10; duration = 28; initialDepth = 29.872804; finalDepth = 30.769831; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.054206 # Actual altitude: 51.054206 # Commanded vehicle depth:29.872804 # Seafloor depth:-80.927010 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 204.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.392972 meters # Minimum depth: 79.507063 meters looking forward 100.000000 meters along route # Maximum depth: 81.793290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.507063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808637; longitude = -121.865519; captureRadius = 10; duration = 28; initialDepth = 29.507063; finalDepth = 29.872804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.076049 # Actual altitude: 51.076049 # Commanded vehicle depth:29.507063 # Seafloor depth:-80.583112 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 30.285797 meters # Minimum depth: 79.033723 meters looking forward 100.000000 meters along route # Maximum depth: 81.181745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.033723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808758; longitude = -121.865799; captureRadius = 10; duration = 30; initialDepth = 29.033723; finalDepth = 29.507063; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.076049 # Actual altitude: 51.076049 # Commanded vehicle depth:29.033723 # Seafloor depth:-79.197571 # behavior reson { duration = RESON_DURATION; LoSS_Range = 337.50; MB_Range = 204.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 50.450703 # Actual altitude: 50.450703 # Commanded vehicle depth:29.033723 # Seafloor depth:-79.484426 # behavior reson { duration = RESON_DURATION; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 201.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 192.776102 meters # Minimum depth: 79.033723 meters looking forward 100.000000 meters along route # Maximum depth: 81.181745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 50.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.033723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808888; longitude = -121.866098; captureRadius = 10; duration = 192; initialDepth = 29.033723; finalDepth = 29.033723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 117.638635; 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 = 117.638635; 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_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000020; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################