# 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: UpperCanyonLong_3v1.rte # Mission File: UpperCanyonLong_3v1.cfg # Distance: 29872.715674 (m) # Estimated Time: 22895 (s) 6.360 (hr) # Abort Time: 29763 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1436 (s) # Way Points: 69 # Route Points: 423 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 75 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 1392.121466 (m) # Abort Vehicle Depth: 1417.121466 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 75 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.967989 36.733672 -118.976613 0.000000 3 # 1 -121.986307 36.736331 -512.128988 1662.057636 1 # 2 -122.003710 36.734949 -843.536540 3223.560406 1 # 3 -122.012673 36.732381 -1250.202474 4073.113014 1 # 4 -122.013924 36.728580 -1208.837077 4509.251162 1 # 5 -122.010041 36.725621 -1315.132975 4986.809869 1 # 6 -122.012281 36.722828 -1403.597168 5355.737099 3 # 7 -122.014765 36.724254 -1399.546712 5628.226852 1 # 8 -122.018331 36.730308 -1320.594401 6371.465062 1 # 9 -122.020143 36.731419 -1321.540853 6574.850111 1 # 10 -122.018294 36.732230 -1304.687500 6762.856204 1 # 11 -122.015866 36.730623 -1278.548584 7043.529840 1 # 12 -122.014970 36.728145 -1249.181152 7329.890457 1 # 13 -122.009312 36.723864 -1369.275391 8023.310854 1 # 14 -122.012785 36.720574 -1417.202311 8502.251962 1 # 15 -122.015493 36.723038 -1402.527669 8867.153234 1 # 16 -122.018387 36.729136 -1352.547363 9591.383064 1 # 17 -122.021412 36.731029 -1323.824707 9933.511285 1 # 18 -122.023205 36.731660 -1293.546061 10108.214854 1 # 19 -122.023821 36.732200 -1290.570638 10189.617057 1 # 20 -122.023616 36.732771 -1287.389486 10255.541131 1 # 21 -122.021692 36.732561 -1300.211589 10428.859863 1 # 22 -122.019284 36.733237 -1292.052572 10656.649089 1 # 23 -122.018107 36.734183 -1297.181803 10805.158837 1 # 24 -122.019620 36.737292 -1280.129395 11175.590104 1 # 25 -122.020292 36.737923 -1274.400879 11267.790017 1 # 26 -122.020348 36.739906 -1271.013509 11487.805208 1 # 27 -122.021151 36.741198 -1262.450684 11648.043196 1 # 28 -122.025054 36.742880 -1216.600749 12043.319843 1 # 29 -122.028489 36.745208 -1189.045654 12444.330206 1 # 30 -122.033792 36.751577 -1192.137614 13294.821679 1 # 31 -122.035305 36.754776 -1177.322917 13674.569332 1 # 32 -122.034035 36.755392 -1188.280111 13806.916547 1 # 33 -122.032691 36.756023 -1195.106120 13945.848296 1 # 34 -122.031048 36.756849 -1162.657878 14118.811081 1 # 35 -122.028135 36.753244 -1179.621094 14595.842707 1 # 36 -122.023504 36.748227 -1195.276693 15289.149302 1 # 37 -122.018350 36.743045 -1238.302734 16025.501014 1 # 38 -122.014746 36.738239 -1259.265625 16648.297751 1 # 39 -122.012468 36.733402 -1253.603760 17222.126756 4 # 40 -122.014186 36.732381 -1278.366699 17412.838978 3 # 41 -122.015474 36.728595 -1267.341634 17848.235789 1 # 42 -122.016931 36.728911 -1337.223470 17982.924438 1 # 43 -122.015605 36.732681 -1289.361491 18417.610525 1 # 44 -122.017006 36.732996 -1298.525228 18547.468643 1 # 45 -122.018014 36.730203 -1313.159505 18870.223618 1 # 46 -122.021095 36.731059 -1328.010173 19161.284783 1 # 47 -122.021636 36.731975 -1318.534017 19273.847591 1 # 48 -122.019358 36.732636 -1303.447103 19490.080458 1 # 49 -122.017118 36.734033 -1294.743245 19743.161738 1 # 50 -122.020964 36.741168 -1264.668457 20605.985236 1 # 51 -122.027369 36.746019 -1223.358724 21391.280024 1 # 52 -122.032131 36.751517 -1205.272298 22134.694742 1 # 53 -122.034819 36.755302 -1178.829427 22618.380708 1 # 54 -122.033232 36.755993 -1195.338135 22779.472102 1 # 55 -122.032131 36.756518 -1189.482340 22893.811114 1 # 56 -122.029264 36.752747 -1202.981110 23384.256184 1 # 57 -122.024664 36.747554 -1231.160065 24091.746206 1 # 58 -122.019470 36.742508 -1260.939484 24818.666539 1 # 59 -122.015866 36.737653 -1276.434357 25446.079310 1 # 60 -122.013850 36.733372 -1284.191650 25953.996661 1 # 61 -122.018107 36.730713 -1302.674967 26435.162568 4 # 62 -122.018947 36.731705 -1310.657552 26568.299796 3 # 63 -122.015586 36.733777 -1287.832845 26946.398223 1 # 64 -122.016931 36.736166 -1286.216248 27237.313732 1 # 65 -122.020087 36.741648 -1261.516266 27907.592665 1 # 66 -122.026118 36.746800 -1228.329132 28692.840130 1 # 67 -122.030730 36.752193 -1208.343994 29419.120362 1 # 68 -122.033419 36.755662 -1196.681478 29872.715674 1 # # A total of 423 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 20700; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1392.121466; abortDepth = 1417.121466; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1436; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 75.122579 meters # Minimum depth: 1196.681478 meters looking forward 100.000000 meters along route # Maximum depth: 1200.481877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.681478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755662; longitude = -122.033419; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1149.825367; finalDepth = 1146.681478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1146.681478 # Seafloor depth:-1196.681478 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 75.122579 meters # Minimum depth: 1199.825367 meters looking forward 100.000000 meters along route # Maximum depth: 1200.937089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.825367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755106; longitude = -122.032988; captureRadius = 10; duration = 75; initialDepth = 1150.552596; finalDepth = 1149.825367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6598510000001 # Actual altitude: 50.6598510000001 # Commanded vehicle depth:1149.825367 # Seafloor depth:-1200.485218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 75.122579 meters # Minimum depth: 1200.552596 meters looking forward 100.000000 meters along route # Maximum depth: 1204.519703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.552596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754530; longitude = -122.032541; captureRadius = 10; duration = 75; initialDepth = 1154.059911; finalDepth = 1150.552596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6598510000001 # Actual altitude: 50.6598510000001 # Commanded vehicle depth:1150.552596 # Seafloor depth:-1200.684738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 75.122579 meters # Minimum depth: 1204.059911 meters looking forward 100.000000 meters along route # Maximum depth: 1206.441030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.059911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753952; longitude = -122.032093; captureRadius = 10; duration = 75; initialDepth = 1156.039327; finalDepth = 1154.059911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.478204 # Actual altitude: 50.478204 # Commanded vehicle depth:1154.059911 # Seafloor depth:-1204.538115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 75.122579 meters # Minimum depth: 1206.039327 meters looking forward 100.000000 meters along route # Maximum depth: 1207.351906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.039327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753374; longitude = -122.031645; captureRadius = 10; duration = 75; initialDepth = 1156.121820; finalDepth = 1156.039327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.478204 # Actual altitude: 50.478204 # Commanded vehicle depth:1156.039327 # Seafloor depth:-1206.439479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 75.122579 meters # Minimum depth: 1206.121820 meters looking forward 100.000000 meters along route # Maximum depth: 1208.217606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.121820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752795; longitude = -122.031197; captureRadius = 10; duration = 75; initialDepth = 1156.121820; finalDepth = 1156.121820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9026259999998 # Actual altitude: 50.9026259999998 # Commanded vehicle depth:1156.12182 # Seafloor depth:-1207.024446 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 75.122579 meters # Minimum depth: 1206.121820 meters looking forward 100.000000 meters along route # Maximum depth: 1208.916314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.121820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752193; longitude = -122.030730; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1154.669428; finalDepth = 1156.121820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.222174 # Actual altitude: 52.222174 # Commanded vehicle depth:1156.12182 # Seafloor depth:-1208.343994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1204.669428 meters looking forward 100.000000 meters along route # Maximum depth: 1208.916314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.669428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751997; longitude = -122.030563; captureRadius = 10; duration = 75; initialDepth = 1154.669428; finalDepth = 1154.669428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9230090000001 # Actual altitude: 53.9230090000001 # Commanded vehicle depth:1154.669428 # Seafloor depth:-1208.592437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1204.669428 meters looking forward 100.000000 meters along route # Maximum depth: 1211.658249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.669428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751429; longitude = -122.030077; captureRadius = 10; duration = 75; initialDepth = 1158.023522; finalDepth = 1154.669428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9230090000001 # Actual altitude: 53.9230090000001 # Commanded vehicle depth:1154.669428 # Seafloor depth:-1205.247847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1208.023522 meters looking forward 100.000000 meters along route # Maximum depth: 1211.658249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.023522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750871; longitude = -122.029599; captureRadius = 10; duration = 75; initialDepth = 1158.723214; finalDepth = 1158.023522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2951130000001 # Actual altitude: 53.2951130000001 # Commanded vehicle depth:1158.023522 # Seafloor depth:-1211.318635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1208.723214 meters looking forward 100.000000 meters along route # Maximum depth: 1213.313599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.723214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750285; longitude = -122.029098; captureRadius = 10; duration = 75; initialDepth = 1162.793291; finalDepth = 1158.723214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2951130000001 # Actual altitude: 53.2951130000001 # Commanded vehicle depth:1158.723214 # Seafloor depth:-1209.925209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1212.793291 meters looking forward 100.000000 meters along route # Maximum depth: 1216.710213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.793291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749699; longitude = -122.028597; captureRadius = 10; duration = 75; initialDepth = 1166.519101; finalDepth = 1162.793291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2019949999999 # Actual altitude: 51.2019949999999 # Commanded vehicle depth:1162.793291 # Seafloor depth:-1213.494187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1216.519101 meters looking forward 100.000000 meters along route # Maximum depth: 1219.788044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.519101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749113; longitude = -122.028096; captureRadius = 10; duration = 75; initialDepth = 1169.465127; finalDepth = 1166.519101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7008960000001 # Actual altitude: 50.7008960000001 # Commanded vehicle depth:1166.519101 # Seafloor depth:-1216.611756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1219.465127 meters looking forward 100.000000 meters along route # Maximum depth: 1222.302811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.465127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748528; longitude = -122.027595; captureRadius = 10; duration = 75; initialDepth = 1172.093525; finalDepth = 1169.465127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3426790000001 # Actual altitude: 50.3426790000001 # Commanded vehicle depth:1169.465127 # Seafloor depth:-1219.807806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1222.093525 meters looking forward 100.000000 meters along route # Maximum depth: 1224.455730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.093525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747942; longitude = -122.027094; captureRadius = 10; duration = 75; initialDepth = 1173.706848; finalDepth = 1172.093525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3426790000001 # Actual altitude: 50.3426790000001 # Commanded vehicle depth:1172.093525 # Seafloor depth:-1222.269176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 75.122579 meters # Minimum depth: 1223.706848 meters looking forward 100.000000 meters along route # Maximum depth: 1228.231089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.706848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747368; longitude = -122.026603; captureRadius = 10; duration = 75; initialDepth = 1174.882086; finalDepth = 1173.706848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.925477 # Actual altitude: 50.925477 # Commanded vehicle depth:1173.706848 # Seafloor depth:-1224.632325 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 75.122579 meters # Minimum depth: 1224.882086 meters looking forward 100.000000 meters along route # Maximum depth: 1228.959141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.882086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746800; longitude = -122.026118; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1178.406766; finalDepth = 1174.882086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.447046 # Actual altitude: 53.447046 # Commanded vehicle depth:1174.882086 # Seafloor depth:-1228.329132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1228.406766 meters looking forward 100.000000 meters along route # Maximum depth: 1229.744604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.406766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746635; longitude = -122.025925; captureRadius = 10; duration = 75; initialDepth = 1179.225096; finalDepth = 1178.406766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.447046 # Actual altitude: 53.447046 # Commanded vehicle depth:1178.406766 # Seafloor depth:-1228.975802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1229.225096 meters looking forward 100.000000 meters along route # Maximum depth: 1234.339749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.225096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746139; longitude = -122.025345; captureRadius = 10; duration = 75; initialDepth = 1183.798039; finalDepth = 1179.225096; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5930680000001 # Actual altitude: 50.5930680000001 # Commanded vehicle depth:1179.225096 # Seafloor depth:-1229.818164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1233.798039 meters looking forward 100.000000 meters along route # Maximum depth: 1237.727439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.798039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745644; longitude = -122.024764; captureRadius = 10; duration = 75; initialDepth = 1187.234494; finalDepth = 1183.798039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.809334 # Actual altitude: 50.809334 # Commanded vehicle depth:1183.798039 # Seafloor depth:-1234.607373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1237.234494 meters looking forward 100.000000 meters along route # Maximum depth: 1239.009825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.234494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745148; longitude = -122.024184; captureRadius = 10; duration = 75; initialDepth = 1188.658165; finalDepth = 1187.234494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.809334 # Actual altitude: 50.809334 # Commanded vehicle depth:1187.234494 # Seafloor depth:-1237.744248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1238.658165 meters looking forward 100.000000 meters along route # Maximum depth: 1242.609671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.658165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744652; longitude = -122.023604; captureRadius = 10; duration = 75; initialDepth = 1191.773201; finalDepth = 1188.658165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.517468 # Actual altitude: 50.517468 # Commanded vehicle depth:1188.658165 # Seafloor depth:-1239.175633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1241.773201 meters looking forward 100.000000 meters along route # Maximum depth: 1245.483141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.773201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744157; longitude = -122.023024; captureRadius = 10; duration = 75; initialDepth = 1192.267307; finalDepth = 1191.773201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2978860000001 # Actual altitude: 51.2978860000001 # Commanded vehicle depth:1191.773201 # Seafloor depth:-1243.071087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1242.267307 meters looking forward 100.000000 meters along route # Maximum depth: 1245.483141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.267307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743661; longitude = -122.022443; captureRadius = 10; duration = 75; initialDepth = 1192.267307; finalDepth = 1192.267307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0462459999999 # Actual altitude: 53.0462459999999 # Commanded vehicle depth:1192.267307 # Seafloor depth:-1245.313553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1242.267307 meters looking forward 100.000000 meters along route # Maximum depth: 1254.329394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.267307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743165; longitude = -122.021863; captureRadius = 10; duration = 75; initialDepth = 1200.033766; finalDepth = 1192.267307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0462459999999 # Actual altitude: 53.0462459999999 # Commanded vehicle depth:1192.267307 # Seafloor depth:-1242.298329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1250.033766 meters looking forward 100.000000 meters along route # Maximum depth: 1258.445579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.033766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742668; longitude = -122.021282; captureRadius = 10; duration = 75; initialDepth = 1207.565112; finalDepth = 1200.033766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.344272 # Actual altitude: 54.344272 # Commanded vehicle depth:1200.033766 # Seafloor depth:-1254.378038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 75.122579 meters # Minimum depth: 1257.565112 meters looking forward 100.000000 meters along route # Maximum depth: 1261.765748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.565112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742142; longitude = -122.020665; captureRadius = 10; duration = 75; initialDepth = 1210.341580; finalDepth = 1207.565112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.344272 # Actual altitude: 54.344272 # Commanded vehicle depth:1207.565112 # Seafloor depth:-1258.903323 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 75.122579 meters # Minimum depth: 1260.341580 meters looking forward 100.000000 meters along route # Maximum depth: 1261.765748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.341580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741648; longitude = -122.020087; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1210.341580; finalDepth = 1210.341580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.338211 # Actual altitude: 51.338211 # Commanded vehicle depth:1210.34158 # Seafloor depth:-1261.516266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1260.341580 meters looking forward 100.000000 meters along route # Maximum depth: 1268.575789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.341580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741228; longitude = -122.019845; captureRadius = 10; duration = 75; initialDepth = 1217.090127; finalDepth = 1210.341580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1746860000001 # Actual altitude: 51.1746860000001 # Commanded vehicle depth:1210.34158 # Seafloor depth:-1260.986873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1267.090127 meters looking forward 100.000000 meters along route # Maximum depth: 1273.770440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.090127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740597; longitude = -122.019482; captureRadius = 10; duration = 75; initialDepth = 1222.764285; finalDepth = 1217.090127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5849660000001 # Actual altitude: 51.5849660000001 # Commanded vehicle depth:1217.090127 # Seafloor depth:-1268.675093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1272.764285 meters looking forward 100.000000 meters along route # Maximum depth: 1276.972749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1222.764285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739966; longitude = -122.019119; captureRadius = 10; duration = 75; initialDepth = 1225.866038; finalDepth = 1222.764285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5849660000001 # Actual altitude: 51.5849660000001 # Commanded vehicle depth:1222.764285 # Seafloor depth:-1274.014138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1275.866038 meters looking forward 100.000000 meters along route # Maximum depth: 1278.126016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.866038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739335; longitude = -122.018755; captureRadius = 10; duration = 75; initialDepth = 1228.004803; finalDepth = 1225.866038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.249853 # Actual altitude: 51.249853 # Commanded vehicle depth:1225.866038 # Seafloor depth:-1277.028754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1278.004803 meters looking forward 100.000000 meters along route # Maximum depth: 1278.964315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.004803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738704; longitude = -122.018392; captureRadius = 10; duration = 75; initialDepth = 1228.388667; finalDepth = 1228.004803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.162716 # Actual altitude: 51.162716 # Commanded vehicle depth:1228.004803 # Seafloor depth:-1278.292597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1278.388667 meters looking forward 100.000000 meters along route # Maximum depth: 1282.163211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.388667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738073; longitude = -122.018029; captureRadius = 10; duration = 75; initialDepth = 1228.433329; finalDepth = 1228.388667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2877939999998 # Actual altitude: 50.2877939999998 # Commanded vehicle depth:1228.388667 # Seafloor depth:-1278.398112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1278.433329 meters looking forward 100.000000 meters along route # Maximum depth: 1282.530491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.433329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737442; longitude = -122.017666; captureRadius = 10; duration = 75; initialDepth = 1228.433329; finalDepth = 1228.433329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9370670000001 # Actual altitude: 53.9370670000001 # Commanded vehicle depth:1228.433329 # Seafloor depth:-1282.370396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 75.122579 meters # Minimum depth: 1278.433329 meters looking forward 100.000000 meters along route # Maximum depth: 1286.134675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.433329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736812; longitude = -122.017303; captureRadius = 10; duration = 75; initialDepth = 1231.884321; finalDepth = 1228.433329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9370670000001 # Actual altitude: 53.9370670000001 # Commanded vehicle depth:1228.433329 # Seafloor depth:-1278.438396 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 75.122579 meters # Minimum depth: 1281.884321 meters looking forward 100.000000 meters along route # Maximum depth: 1287.906017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.884321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736166; longitude = -122.016931; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1236.792491; finalDepth = 1231.884321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.331927 # Actual altitude: 54.331927 # Commanded vehicle depth:1231.884321 # Seafloor depth:-1286.216248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 75.122579 meters # Minimum depth: 1286.792491 meters looking forward 100.000000 meters along route # Maximum depth: 1289.152920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.792491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735685; longitude = -122.016660; captureRadius = 10; duration = 75; initialDepth = 1238.903050; finalDepth = 1236.792491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.331927 # Actual altitude: 54.331927 # Commanded vehicle depth:1236.792491 # Seafloor depth:-1288.061326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 75.122579 meters # Minimum depth: 1288.903050 meters looking forward 100.000000 meters along route # Maximum depth: 1289.233268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.903050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735054; longitude = -122.016305; captureRadius = 10; duration = 75; initialDepth = 1237.867949; finalDepth = 1238.903050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2688350000001 # Actual altitude: 51.2688350000001 # Commanded vehicle depth:1238.90305 # Seafloor depth:-1288.946359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 205.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 75.122579 meters # Minimum depth: 1287.867949 meters looking forward 100.000000 meters along route # Maximum depth: 1289.116776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.867949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734423; longitude = -122.015950; captureRadius = 10; duration = 75; initialDepth = 1237.832845; finalDepth = 1237.867949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.207721 # Actual altitude: 51.207721 # Commanded vehicle depth:1237.867949 # Seafloor depth:-1289.075670 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 75.122579 meters # Minimum depth: 1287.832845 meters looking forward 100.000000 meters along route # Maximum depth: 1290.277956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.832845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733777; longitude = -122.015586; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1238.890251; finalDepth = 1237.832845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.207721 # Actual altitude: 51.207721 # Commanded vehicle depth:1237.832845 # Seafloor depth:-1287.832845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 75.122579 meters # Minimum depth: 1288.890251 meters looking forward 100.000000 meters along route # Maximum depth: 1297.714159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.890251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733374; longitude = -122.016240; captureRadius = 10; duration = 75; initialDepth = 1246.452812; finalDepth = 1238.890251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.595067 # Actual altitude: 51.595067 # Commanded vehicle depth:1238.890251 # Seafloor depth:-1290.485318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 75.122579 meters # Minimum depth: 1296.452812 meters looking forward 100.000000 meters along route # Maximum depth: 1302.525421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.452812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732960; longitude = -122.016912; captureRadius = 10; duration = 75; initialDepth = 1252.065378; finalDepth = 1246.452812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.677754 # Actual altitude: 51.677754 # Commanded vehicle depth:1246.452812 # Seafloor depth:-1298.130566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 75.122579 meters # Minimum depth: 1302.065378 meters looking forward 100.000000 meters along route # Maximum depth: 1304.360596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.065378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732545; longitude = -122.017584; captureRadius = 10; duration = 75; initialDepth = 1253.514562; finalDepth = 1252.065378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.677754 # Actual altitude: 51.677754 # Commanded vehicle depth:1252.065378 # Seafloor depth:-1302.175857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 75.122579 meters # Minimum depth: 1303.514562 meters looking forward 100.000000 meters along route # Maximum depth: 1310.439926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.514562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732125; longitude = -122.018266; captureRadius = 10; duration = 75; initialDepth = 1255.325058; finalDepth = 1253.514562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.884157 # Actual altitude: 50.884157 # Commanded vehicle depth:1253.514562 # Seafloor depth:-1304.398719 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 75.122579 meters # Minimum depth: 1305.325058 meters looking forward 100.000000 meters along route # Maximum depth: 1310.657552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.325058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731705; longitude = -122.018947; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1252.980811; finalDepth = 1255.325058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.332494 # Actual altitude: 55.332494 # Commanded vehicle depth:1255.325058 # Seafloor depth:-1310.657552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 75.122579 meters # Minimum depth: 1302.980811 meters looking forward 100.000000 meters along route # Maximum depth: 1307.506350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1252.980811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731286; longitude = -122.018593; captureRadius = 10; duration = 75; initialDepth = 1246.005380; finalDepth = 1252.980811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 55.332494 # Actual altitude: 55.332494 # Commanded vehicle depth:1252.980811 # Seafloor depth:-1304.981508 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 75.122579 meters # Minimum depth: 1296.005380 meters looking forward 100.000000 meters along route # Maximum depth: 1305.146710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1246.005380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730713; longitude = -122.018107; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1237.029140; finalDepth = 1246.005380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6695869999999 # Actual altitude: 56.6695869999999 # Commanded vehicle depth:1246.00538 # Seafloor depth:-1302.674967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 226.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.122579 meters # Minimum depth: 1287.029140 meters looking forward 100.000000 meters along route # Maximum depth: 1302.980811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.029140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730830; longitude = -122.017920; captureRadius = 10; duration = 75; initialDepth = 1236.585722; finalDepth = 1237.029140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1363729999998 # Actual altitude: 58.1363729999998 # Commanded vehicle depth:1237.02914 # Seafloor depth:-1295.165513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.122579 meters # Minimum depth: 1286.585722 meters looking forward 100.000000 meters along route # Maximum depth: 1287.469773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.585722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731250; longitude = -122.017248; captureRadius = 10; duration = 75; initialDepth = 1236.832060; finalDepth = 1236.585722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.1363729999998 # Actual altitude: 58.1363729999998 # Commanded vehicle depth:1236.585722 # Seafloor depth:-1286.931661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.122579 meters # Minimum depth: 1286.832060 meters looking forward 100.000000 meters along route # Maximum depth: 1291.078833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.832060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731675; longitude = -122.016568; captureRadius = 10; duration = 75; initialDepth = 1238.005859; finalDepth = 1236.832060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.345939 # Actual altitude: 50.345939 # Commanded vehicle depth:1236.83206 # Seafloor depth:-1286.842660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.122579 meters # Minimum depth: 1288.005859 meters looking forward 100.000000 meters along route # Maximum depth: 1291.578553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.005859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732089; longitude = -122.015904; captureRadius = 10; duration = 75; initialDepth = 1236.285299; finalDepth = 1238.005859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.107757 # Actual altitude: 53.107757 # Commanded vehicle depth:1238.005859 # Seafloor depth:-1291.113616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.122579 meters # Minimum depth: 1286.285299 meters looking forward 100.000000 meters along route # Maximum depth: 1288.720785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.285299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732509; longitude = -122.015232; captureRadius = 10; duration = 75; initialDepth = 1234.287678; finalDepth = 1236.285299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.107757 # Actual altitude: 53.107757 # Commanded vehicle depth:1236.285299 # Seafloor depth:-1287.905281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 75.122579 meters # Minimum depth: 1284.287678 meters looking forward 100.000000 meters along route # Maximum depth: 1287.440913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.287678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732936; longitude = -122.014547; captureRadius = 10; duration = 75; initialDepth = 1234.191650; finalDepth = 1234.287678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9404000000002 # Actual altitude: 51.9404000000002 # Commanded vehicle depth:1234.287678 # Seafloor depth:-1286.228078 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 75.122579 meters # Minimum depth: 1284.191650 meters looking forward 100.000000 meters along route # Maximum depth: 1288.250704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.191650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733372; longitude = -122.013850; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1236.782260; finalDepth = 1234.191650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9404000000002 # Actual altitude: 51.9404000000002 # Commanded vehicle depth:1234.19165 # Seafloor depth:-1284.191650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.122579 meters # Minimum depth: 1286.782260 meters looking forward 100.000000 meters along route # Maximum depth: 1290.317951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.782260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733747; longitude = -122.014027; captureRadius = 10; duration = 75; initialDepth = 1237.871764; finalDepth = 1236.782260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.925833 # Actual altitude: 51.925833 # Commanded vehicle depth:1236.78226 # Seafloor depth:-1288.708093 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.122579 meters # Minimum depth: 1287.871764 meters looking forward 100.000000 meters along route # Maximum depth: 1290.222299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.871764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734403; longitude = -122.014335; captureRadius = 10; duration = 75; initialDepth = 1234.894706; finalDepth = 1237.871764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.925833 # Actual altitude: 51.925833 # Commanded vehicle depth:1237.871764 # Seafloor depth:-1289.753260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.122579 meters # Minimum depth: 1284.894706 meters looking forward 100.000000 meters along route # Maximum depth: 1288.475857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.894706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735054; longitude = -122.014642; captureRadius = 10; duration = 75; initialDepth = 1232.785943; finalDepth = 1234.894706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.760714 # Actual altitude: 52.760714 # Commanded vehicle depth:1234.894706 # Seafloor depth:-1287.655420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.122579 meters # Minimum depth: 1282.785943 meters looking forward 100.000000 meters along route # Maximum depth: 1285.784449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.785943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735711; longitude = -122.014951; captureRadius = 10; duration = 75; initialDepth = 1227.464906; finalDepth = 1232.785943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.760714 # Actual altitude: 52.760714 # Commanded vehicle depth:1232.785943 # Seafloor depth:-1284.730516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.122579 meters # Minimum depth: 1277.464906 meters looking forward 100.000000 meters along route # Maximum depth: 1282.967239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.464906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736361; longitude = -122.015258; captureRadius = 10; duration = 75; initialDepth = 1226.395061; finalDepth = 1227.464906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2059450000002 # Actual altitude: 55.2059450000002 # Commanded vehicle depth:1227.464906 # Seafloor depth:-1282.670851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 75.122579 meters # Minimum depth: 1276.395061 meters looking forward 100.000000 meters along route # Maximum depth: 1279.339159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.395061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737020; longitude = -122.015568; captureRadius = 10; duration = 75; initialDepth = 1225.638205; finalDepth = 1226.395061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2059450000002 # Actual altitude: 55.2059450000002 # Commanded vehicle depth:1226.395061 # Seafloor depth:-1277.265489 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 75.122579 meters # Minimum depth: 1275.638205 meters looking forward 100.000000 meters along route # Maximum depth: 1277.464906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.638205 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737653; longitude = -122.015866; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1224.678451; finalDepth = 1225.638205; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8704279999999 # Actual altitude: 50.8704279999999 # Commanded vehicle depth:1225.638205 # Seafloor depth:-1276.434357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1274.678451 meters looking forward 100.000000 meters along route # Maximum depth: 1276.451563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.678451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737803; longitude = -122.015977; captureRadius = 10; duration = 75; initialDepth = 1224.352812; finalDepth = 1224.678451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8397110000001 # Actual altitude: 50.8397110000001 # Commanded vehicle depth:1224.678451 # Seafloor depth:-1275.518162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1274.352812 meters looking forward 100.000000 meters along route # Maximum depth: 1274.962647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.352812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738389; longitude = -122.016412; captureRadius = 10; duration = 75; initialDepth = 1220.682040; finalDepth = 1224.352812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8397110000001 # Actual altitude: 50.8397110000001 # Commanded vehicle depth:1224.352812 # Seafloor depth:-1274.957493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1270.682040 meters looking forward 100.000000 meters along route # Maximum depth: 1274.774870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.682040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738975; longitude = -122.016847; captureRadius = 10; duration = 75; initialDepth = 1219.078689; finalDepth = 1220.682040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.412237 # Actual altitude: 53.412237 # Commanded vehicle depth:1220.68204 # Seafloor depth:-1274.094277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1269.078689 meters looking forward 100.000000 meters along route # Maximum depth: 1271.392678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.078689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739560; longitude = -122.017282; captureRadius = 10; duration = 75; initialDepth = 1216.596845; finalDepth = 1219.078689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.412237 # Actual altitude: 53.412237 # Commanded vehicle depth:1219.078689 # Seafloor depth:-1270.514480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1266.596845 meters looking forward 100.000000 meters along route # Maximum depth: 1269.593441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.596845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740146; longitude = -122.017717; captureRadius = 10; duration = 75; initialDepth = 1214.014312; finalDepth = 1216.596845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4012339999999 # Actual altitude: 52.4012339999999 # Commanded vehicle depth:1216.596845 # Seafloor depth:-1268.998079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1264.014312 meters looking forward 100.000000 meters along route # Maximum depth: 1267.715938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.014312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740732; longitude = -122.018152; captureRadius = 10; duration = 75; initialDepth = 1210.592885; finalDepth = 1214.014312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5290949999999 # Actual altitude: 52.5290949999999 # Commanded vehicle depth:1214.014312 # Seafloor depth:-1266.543407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1260.592885 meters looking forward 100.000000 meters along route # Maximum depth: 1264.690405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.592885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741318; longitude = -122.018586; captureRadius = 10; duration = 75; initialDepth = 1210.592885; finalDepth = 1210.592885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1800450000001 # Actual altitude: 53.1800450000001 # Commanded vehicle depth:1210.592885 # Seafloor depth:-1263.772930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 75.122579 meters # Minimum depth: 1260.592885 meters looking forward 100.000000 meters along route # Maximum depth: 1261.363817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.592885 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741904; longitude = -122.019021; captureRadius = 10; duration = 75; initialDepth = 1210.165341; finalDepth = 1210.592885; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1800450000001 # Actual altitude: 53.1800450000001 # Commanded vehicle depth:1210.592885 # Seafloor depth:-1260.704377 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 75.122579 meters # Minimum depth: 1260.165341 meters looking forward 100.000000 meters along route # Maximum depth: 1261.363817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.165341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742508; longitude = -122.019470; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1207.205630; finalDepth = 1210.165341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7741430000001 # Actual altitude: 50.7741430000001 # Commanded vehicle depth:1210.165341 # Seafloor depth:-1260.939484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1257.205630 meters looking forward 100.000000 meters along route # Maximum depth: 1260.904292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.205630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742670; longitude = -122.019636; captureRadius = 10; duration = 75; initialDepth = 1194.098927; finalDepth = 1207.205630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7567530000001 # Actual altitude: 52.7567530000001 # Commanded vehicle depth:1207.20563 # Seafloor depth:-1259.962383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1244.098927 meters looking forward 100.000000 meters along route # Maximum depth: 1257.621961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.098927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743210; longitude = -122.020193; captureRadius = 10; duration = 75; initialDepth = 1190.552491; finalDepth = 1194.098927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.871574 # Actual altitude: 62.871574 # Commanded vehicle depth:1194.098927 # Seafloor depth:-1256.970501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1240.552491 meters looking forward 100.000000 meters along route # Maximum depth: 1247.122118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.552491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743751; longitude = -122.020749; captureRadius = 10; duration = 75; initialDepth = 1191.375880; finalDepth = 1190.552491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.871574 # Actual altitude: 62.871574 # Commanded vehicle depth:1190.552491 # Seafloor depth:-1243.409552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1241.375880 meters looking forward 100.000000 meters along route # Maximum depth: 1244.734375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.375880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744292; longitude = -122.021306; captureRadius = 10; duration = 75; initialDepth = 1189.933034; finalDepth = 1191.375880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8570610000002 # Actual altitude: 52.8570610000002 # Commanded vehicle depth:1191.37588 # Seafloor depth:-1242.508656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1239.933034 meters looking forward 100.000000 meters along route # Maximum depth: 1244.734375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.933034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744832; longitude = -122.021863; captureRadius = 10; duration = 75; initialDepth = 1188.534851; finalDepth = 1189.933034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5331290000001 # Actual altitude: 54.5331290000001 # Commanded vehicle depth:1189.933034 # Seafloor depth:-1244.466163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1238.534851 meters looking forward 100.000000 meters along route # Maximum depth: 1241.196793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.534851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745373; longitude = -122.022419; captureRadius = 10; duration = 75; initialDepth = 1186.779383; finalDepth = 1188.534851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5331290000001 # Actual altitude: 54.5331290000001 # Commanded vehicle depth:1188.534851 # Seafloor depth:-1239.716684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1236.779383 meters looking forward 100.000000 meters along route # Maximum depth: 1239.112915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.779383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745914; longitude = -122.022976; captureRadius = 10; duration = 75; initialDepth = 1184.415686; finalDepth = 1186.779383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.291686 # Actual altitude: 52.291686 # Commanded vehicle depth:1186.779383 # Seafloor depth:-1239.071069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1234.415686 meters looking forward 100.000000 meters along route # Maximum depth: 1237.478143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.415686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746455; longitude = -122.023532; captureRadius = 10; duration = 75; initialDepth = 1181.191107; finalDepth = 1184.415686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.312825 # Actual altitude: 52.312825 # Commanded vehicle depth:1184.415686 # Seafloor depth:-1236.728511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 75.122579 meters # Minimum depth: 1231.191107 meters looking forward 100.000000 meters along route # Maximum depth: 1235.182178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.191107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746995; longitude = -122.024089; captureRadius = 10; duration = 75; initialDepth = 1181.119692; finalDepth = 1181.191107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.182061 # Actual altitude: 53.182061 # Commanded vehicle depth:1181.191107 # Seafloor depth:-1234.373168 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 75.122579 meters # Minimum depth: 1231.119692 meters looking forward 100.000000 meters along route # Maximum depth: 1234.917077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.119692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747554; longitude = -122.024664; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1179.365247; finalDepth = 1181.119692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.182061 # Actual altitude: 53.182061 # Commanded vehicle depth:1181.119692 # Seafloor depth:-1231.160065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1229.365247 meters looking forward 100.000000 meters along route # Maximum depth: 1231.347659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.365247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747593; longitude = -122.024699; captureRadius = 10; duration = 75; initialDepth = 1176.246692; finalDepth = 1179.365247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7327620000001 # Actual altitude: 51.7327620000001 # Commanded vehicle depth:1179.365247 # Seafloor depth:-1231.098009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1226.246692 meters looking forward 100.000000 meters along route # Maximum depth: 1230.216904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.246692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748167; longitude = -122.025207; captureRadius = 10; duration = 75; initialDepth = 1174.989928; finalDepth = 1176.246692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.066071 # Actual altitude: 53.066071 # Commanded vehicle depth:1176.246692 # Seafloor depth:-1229.312763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1224.989928 meters looking forward 100.000000 meters along route # Maximum depth: 1226.640667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.989928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748732; longitude = -122.025707; captureRadius = 10; duration = 75; initialDepth = 1173.008831; finalDepth = 1174.989928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.066071 # Actual altitude: 53.066071 # Commanded vehicle depth:1174.989928 # Seafloor depth:-1226.263454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1223.008831 meters looking forward 100.000000 meters along route # Maximum depth: 1225.517018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.008831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749301; longitude = -122.026211; captureRadius = 10; duration = 75; initialDepth = 1168.574709; finalDepth = 1173.008831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.96434 # Actual altitude: 51.96434 # Commanded vehicle depth:1173.008831 # Seafloor depth:-1224.973171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1218.574709 meters looking forward 100.000000 meters along route # Maximum depth: 1223.256436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1168.574709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749879; longitude = -122.026724; captureRadius = 10; duration = 75; initialDepth = 1164.487761; finalDepth = 1168.574709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4038190000001 # Actual altitude: 54.4038190000001 # Commanded vehicle depth:1168.574709 # Seafloor depth:-1222.978528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1214.487761 meters looking forward 100.000000 meters along route # Maximum depth: 1220.193551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1164.487761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750439; longitude = -122.027220; captureRadius = 10; duration = 75; initialDepth = 1160.761297; finalDepth = 1164.487761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4038190000001 # Actual altitude: 54.4038190000001 # Commanded vehicle depth:1164.487761 # Seafloor depth:-1218.316465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1210.761297 meters looking forward 100.000000 meters along route # Maximum depth: 1215.042357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.761297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751008; longitude = -122.027724; captureRadius = 10; duration = 75; initialDepth = 1154.543776; finalDepth = 1160.761297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.828704 # Actual altitude: 53.828704 # Commanded vehicle depth:1160.761297 # Seafloor depth:-1214.469516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1204.543776 meters looking forward 100.000000 meters along route # Maximum depth: 1210.865201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.543776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751592; longitude = -122.028241; captureRadius = 10; duration = 75; initialDepth = 1152.498651; finalDepth = 1154.543776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.200151 # Actual altitude: 56.200151 # Commanded vehicle depth:1154.543776 # Seafloor depth:-1210.743927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 224.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 75.122579 meters # Minimum depth: 1202.498651 meters looking forward 100.000000 meters along route # Maximum depth: 1205.715925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.498651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752177; longitude = -122.028760; captureRadius = 10; duration = 75; initialDepth = 1152.498651; finalDepth = 1152.498651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.200151 # Actual altitude: 56.200151 # Commanded vehicle depth:1152.498651 # Seafloor depth:-1204.385813 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.48; MB_Bottom_Detect_Filter_Max_Range = 224.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 75.122579 meters # Minimum depth: 1202.498651 meters looking forward 100.000000 meters along route # Maximum depth: 1203.988351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.498651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752747; longitude = -122.029264; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1149.513310; finalDepth = 1152.498651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.887162 # Actual altitude: 51.887162 # Commanded vehicle depth:1152.498651 # Seafloor depth:-1202.981110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.122579 meters # Minimum depth: 1199.513310 meters looking forward 100.000000 meters along route # Maximum depth: 1203.422346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.513310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752989; longitude = -122.029448; captureRadius = 10; duration = 75; initialDepth = 1149.440439; finalDepth = 1149.513310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.748869 # Actual altitude: 53.748869 # Commanded vehicle depth:1149.51331 # Seafloor depth:-1203.262179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.122579 meters # Minimum depth: 1199.440439 meters looking forward 100.000000 meters along route # Maximum depth: 1199.776310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.440439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753574; longitude = -122.029893; captureRadius = 10; duration = 75; initialDepth = 1147.134645; finalDepth = 1149.440439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.748869 # Actual altitude: 53.748869 # Commanded vehicle depth:1149.440439 # Seafloor depth:-1199.610899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.122579 meters # Minimum depth: 1197.134645 meters looking forward 100.000000 meters along route # Maximum depth: 1199.475955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.134645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754160; longitude = -122.030338; captureRadius = 10; duration = 75; initialDepth = 1144.954972; finalDepth = 1147.134645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3221139999998 # Actual altitude: 52.3221139999998 # Commanded vehicle depth:1147.134645 # Seafloor depth:-1199.456759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.122579 meters # Minimum depth: 1194.954972 meters looking forward 100.000000 meters along route # Maximum depth: 1197.966334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.954972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754746; longitude = -122.030783; captureRadius = 10; duration = 75; initialDepth = 1143.235131; finalDepth = 1144.954972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3221139999998 # Actual altitude: 52.3221139999998 # Commanded vehicle depth:1144.954972 # Seafloor depth:-1196.915180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 209.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.122579 meters # Minimum depth: 1193.235131 meters looking forward 100.000000 meters along route # Maximum depth: 1195.254217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.235131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755332; longitude = -122.031229; captureRadius = 10; duration = 75; initialDepth = 1139.580179; finalDepth = 1143.235131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.960208 # Actual altitude: 51.960208 # Commanded vehicle depth:1143.235131 # Seafloor depth:-1194.924086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 75.122579 meters # Minimum depth: 1189.580179 meters looking forward 100.000000 meters along route # Maximum depth: 1193.314125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.580179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755918; longitude = -122.031674; captureRadius = 10; duration = 75; initialDepth = 1139.482340; finalDepth = 1139.580179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.701266 # Actual altitude: 53.701266 # Commanded vehicle depth:1139.580179 # Seafloor depth:-1193.281445 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 75.122579 meters # Minimum depth: 1189.482340 meters looking forward 100.000000 meters along route # Maximum depth: 1192.326016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.482340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756518; longitude = -122.032131; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1140.265433; finalDepth = 1139.482340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.701266 # Actual altitude: 53.701266 # Commanded vehicle depth:1139.48234 # Seafloor depth:-1189.482340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 75.122579 meters # Minimum depth: 1190.265433 meters looking forward 100.000000 meters along route # Maximum depth: 1195.305869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.265433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756349; longitude = -122.032485; captureRadius = 10; duration = 75; initialDepth = 1140.408447; finalDepth = 1140.265433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.025243 # Actual altitude: 51.025243 # Commanded vehicle depth:1140.265433 # Seafloor depth:-1191.290676 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 75.122579 meters # Minimum depth: 1190.408447 meters looking forward 100.000000 meters along route # Maximum depth: 1195.398944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.408447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755993; longitude = -122.033232; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1137.072632; finalDepth = 1140.408447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9296879999999 # Actual altitude: 54.9296879999999 # Commanded vehicle depth:1140.408447 # Seafloor depth:-1195.338135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.122579 meters # Minimum depth: 1187.072632 meters looking forward 100.000000 meters along route # Maximum depth: 1195.422247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.072632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755963; longitude = -122.033301; captureRadius = 10; duration = 75; initialDepth = 1127.753728; finalDepth = 1137.072632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3496149999999 # Actual altitude: 58.3496149999999 # Commanded vehicle depth:1137.072632 # Seafloor depth:-1195.422247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 233.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 75.122579 meters # Minimum depth: 1177.753728 meters looking forward 100.000000 meters along route # Maximum depth: 1190.176076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.753728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755635; longitude = -122.034054; captureRadius = 10; duration = 75; initialDepth = 1127.753728; finalDepth = 1127.753728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7503740000002 # Actual altitude: 58.7503740000002 # Commanded vehicle depth:1127.753728 # Seafloor depth:-1186.504102 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 235.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 75.122579 meters # Minimum depth: 1177.753728 meters looking forward 100.000000 meters along route # Maximum depth: 1189.460311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.753728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755302; longitude = -122.034819; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1128.014742; finalDepth = 1127.753728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7503740000002 # Actual altitude: 58.7503740000002 # Commanded vehicle depth:1127.753728 # Seafloor depth:-1178.829427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 235.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.122579 meters # Minimum depth: 1178.014742 meters looking forward 100.000000 meters along route # Maximum depth: 1188.316650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.014742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755242; longitude = -122.034777; captureRadius = 10; duration = 75; initialDepth = 1137.341611; finalDepth = 1128.014742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5767529999998 # Actual altitude: 51.5767529999998 # Commanded vehicle depth:1128.014742 # Seafloor depth:-1179.591495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.122579 meters # Minimum depth: 1187.341611 meters looking forward 100.000000 meters along route # Maximum depth: 1191.977478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.341611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754611; longitude = -122.034329; captureRadius = 10; duration = 75; initialDepth = 1140.717884; finalDepth = 1137.341611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5767529999998 # Actual altitude: 51.5767529999998 # Commanded vehicle depth:1137.341611 # Seafloor depth:-1188.356259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.122579 meters # Minimum depth: 1190.717884 meters looking forward 100.000000 meters along route # Maximum depth: 1201.835978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.717884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753980; longitude = -122.033880; captureRadius = 10; duration = 75; initialDepth = 1150.200573; finalDepth = 1140.717884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3402620000002 # Actual altitude: 51.3402620000002 # Commanded vehicle depth:1140.717884 # Seafloor depth:-1192.058146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.122579 meters # Minimum depth: 1200.200573 meters looking forward 100.000000 meters along route # Maximum depth: 1203.450989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.200573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753349; longitude = -122.033432; captureRadius = 10; duration = 75; initialDepth = 1150.758097; finalDepth = 1150.200573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7250629999999 # Actual altitude: 51.7250629999999 # Commanded vehicle depth:1150.200573 # Seafloor depth:-1201.925636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.122579 meters # Minimum depth: 1200.758097 meters looking forward 100.000000 meters along route # Maximum depth: 1203.353998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.758097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752726; longitude = -122.032989; captureRadius = 10; duration = 75; initialDepth = 1150.898269; finalDepth = 1150.758097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7250629999999 # Actual altitude: 51.7250629999999 # Commanded vehicle depth:1150.758097 # Seafloor depth:-1202.424988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 75.122579 meters # Minimum depth: 1200.898269 meters looking forward 100.000000 meters along route # Maximum depth: 1205.069641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.898269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752132; longitude = -122.032568; captureRadius = 10; duration = 75; initialDepth = 1152.473267; finalDepth = 1150.898269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6668910000001 # Actual altitude: 51.6668910000001 # Commanded vehicle depth:1150.898269 # Seafloor depth:-1201.773932 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 75.122579 meters # Minimum depth: 1202.473267 meters looking forward 100.000000 meters along route # Maximum depth: 1207.338711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.473267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751517; longitude = -122.032131; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1156.113714; finalDepth = 1152.473267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.799031 # Actual altitude: 52.799031 # Commanded vehicle depth:1152.473267 # Seafloor depth:-1205.272298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1206.113714 meters looking forward 100.000000 meters along route # Maximum depth: 1210.704904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.113714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751276; longitude = -122.031922; captureRadius = 10; duration = 75; initialDepth = 1160.456017; finalDepth = 1156.113714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.799031 # Actual altitude: 52.799031 # Commanded vehicle depth:1156.113714 # Seafloor depth:-1207.370419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1210.456017 meters looking forward 100.000000 meters along route # Maximum depth: 1211.381269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.456017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750690; longitude = -122.031415; captureRadius = 10; duration = 75; initialDepth = 1160.810880; finalDepth = 1160.456017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.256705 # Actual altitude: 51.256705 # Commanded vehicle depth:1160.456017 # Seafloor depth:-1210.488130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1210.810880 meters looking forward 100.000000 meters along route # Maximum depth: 1211.559599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.810880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750105; longitude = -122.030908; captureRadius = 10; duration = 75; initialDepth = 1161.201666; finalDepth = 1160.810880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.604934 # Actual altitude: 50.604934 # Commanded vehicle depth:1160.81088 # Seafloor depth:-1211.415814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1211.201666 meters looking forward 100.000000 meters along route # Maximum depth: 1211.457355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.201666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749519; longitude = -122.030400; captureRadius = 10; duration = 75; initialDepth = 1161.344187; finalDepth = 1161.201666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.604934 # Actual altitude: 50.604934 # Commanded vehicle depth:1161.201666 # Seafloor depth:-1211.430387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1211.344187 meters looking forward 100.000000 meters along route # Maximum depth: 1211.925777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.344187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748933; longitude = -122.029893; captureRadius = 10; duration = 75; initialDepth = 1161.856677; finalDepth = 1161.344187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2287210000002 # Actual altitude: 50.2287210000002 # Commanded vehicle depth:1161.344187 # Seafloor depth:-1211.470163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1211.856677 meters looking forward 100.000000 meters along route # Maximum depth: 1214.598170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.856677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748347; longitude = -122.029385; captureRadius = 10; duration = 75; initialDepth = 1163.153111; finalDepth = 1161.856677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.125976 # Actual altitude: 50.125976 # Commanded vehicle depth:1161.856677 # Seafloor depth:-1211.917974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1213.153111 meters looking forward 100.000000 meters along route # Maximum depth: 1222.910666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1163.153111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747761; longitude = -122.028878; captureRadius = 10; duration = 75; initialDepth = 1171.225567; finalDepth = 1163.153111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8563299999998 # Actual altitude: 51.8563299999998 # Commanded vehicle depth:1163.153111 # Seafloor depth:-1215.009441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1221.225567 meters looking forward 100.000000 meters along route # Maximum depth: 1223.801352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.225567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747176; longitude = -122.028371; captureRadius = 10; duration = 75; initialDepth = 1170.622577; finalDepth = 1171.225567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9656239999999 # Actual altitude: 51.9656239999999 # Commanded vehicle depth:1171.225567 # Seafloor depth:-1223.191191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 75.122579 meters # Minimum depth: 1220.622577 meters looking forward 100.000000 meters along route # Maximum depth: 1223.186579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.622577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746590; longitude = -122.027863; captureRadius = 10; duration = 75; initialDepth = 1170.622577; finalDepth = 1170.622577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9656239999999 # Actual altitude: 51.9656239999999 # Commanded vehicle depth:1170.622577 # Seafloor depth:-1220.783477 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 75.122579 meters # Minimum depth: 1220.622577 meters looking forward 100.000000 meters along route # Maximum depth: 1224.190578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.622577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746019; longitude = -122.027369; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1172.500400; finalDepth = 1170.622577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7361469999998 # Actual altitude: 52.7361469999998 # Commanded vehicle depth:1170.622577 # Seafloor depth:-1223.358724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1222.500400 meters looking forward 100.000000 meters along route # Maximum depth: 1224.190578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.500400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745864; longitude = -122.027164; captureRadius = 10; duration = 75; initialDepth = 1172.559961; finalDepth = 1172.500400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7361469999998 # Actual altitude: 52.7361469999998 # Commanded vehicle depth:1172.5004 # Seafloor depth:-1224.086015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1222.559961 meters looking forward 100.000000 meters along route # Maximum depth: 1227.782874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.559961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745397; longitude = -122.026547; captureRadius = 10; duration = 75; initialDepth = 1176.935130; finalDepth = 1172.559961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5856150000002 # Actual altitude: 51.5856150000002 # Commanded vehicle depth:1172.559961 # Seafloor depth:-1223.103984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1226.935130 meters looking forward 100.000000 meters along route # Maximum depth: 1234.084115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.935130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744930; longitude = -122.025931; captureRadius = 10; duration = 75; initialDepth = 1181.391612; finalDepth = 1176.935130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3058619999999 # Actual altitude: 51.3058619999999 # Commanded vehicle depth:1176.93513 # Seafloor depth:-1228.240992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1231.391612 meters looking forward 100.000000 meters along route # Maximum depth: 1238.679845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.391612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744463; longitude = -122.025315; captureRadius = 10; duration = 75; initialDepth = 1188.434734; finalDepth = 1181.391612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.923035 # Actual altitude: 52.923035 # Commanded vehicle depth:1181.391612 # Seafloor depth:-1234.314647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1238.434734 meters looking forward 100.000000 meters along route # Maximum depth: 1239.084829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.434734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743996; longitude = -122.024699; captureRadius = 10; duration = 75; initialDepth = 1185.624827; finalDepth = 1188.434734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.923035 # Actual altitude: 52.923035 # Commanded vehicle depth:1188.434734 # Seafloor depth:-1238.748544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1235.624827 meters looking forward 100.000000 meters along route # Maximum depth: 1238.937283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.624827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743530; longitude = -122.024083; captureRadius = 10; duration = 75; initialDepth = 1185.614559; finalDepth = 1185.624827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9105949999998 # Actual altitude: 52.9105949999998 # Commanded vehicle depth:1185.624827 # Seafloor depth:-1238.535422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1235.614559 meters looking forward 100.000000 meters along route # Maximum depth: 1238.355886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.614559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743063; longitude = -122.023466; captureRadius = 10; duration = 75; initialDepth = 1187.769982; finalDepth = 1185.614559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9105949999998 # Actual altitude: 52.9105949999998 # Commanded vehicle depth:1185.614559 # Seafloor depth:-1235.614559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1237.769982 meters looking forward 100.000000 meters along route # Maximum depth: 1243.257311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.769982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742596; longitude = -122.022850; captureRadius = 10; duration = 75; initialDepth = 1192.420811; finalDepth = 1187.769982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8766639999999 # Actual altitude: 50.8766639999999 # Commanded vehicle depth:1187.769982 # Seafloor depth:-1238.646646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1242.420811 meters looking forward 100.000000 meters along route # Maximum depth: 1254.225947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.420811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742129; longitude = -122.022233; captureRadius = 10; duration = 75; initialDepth = 1200.854670; finalDepth = 1192.420811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8766639999999 # Actual altitude: 50.8766639999999 # Commanded vehicle depth:1192.420811 # Seafloor depth:-1243.262686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 75.122579 meters # Minimum depth: 1250.854670 meters looking forward 100.000000 meters along route # Maximum depth: 1264.451071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.854670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741633; longitude = -122.021579; captureRadius = 10; duration = 75; initialDepth = 1205.904784; finalDepth = 1200.854670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0394060000001 # Actual altitude: 54.0394060000001 # Commanded vehicle depth:1200.85467 # Seafloor depth:-1254.894076 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 75.122579 meters # Minimum depth: 1255.904784 meters looking forward 100.000000 meters along route # Maximum depth: 1265.412762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.904784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741168; longitude = -122.020964; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1213.946474; finalDepth = 1205.904784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7636729999999 # Actual altitude: 58.7636729999999 # Commanded vehicle depth:1205.904784 # Seafloor depth:-1264.668457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1263.946474 meters looking forward 100.000000 meters along route # Maximum depth: 1265.706160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.946474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740925; longitude = -122.020833; captureRadius = 10; duration = 75; initialDepth = 1214.270876; finalDepth = 1213.946474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.7636729999999 # Actual altitude: 58.7636729999999 # Commanded vehicle depth:1213.946474 # Seafloor depth:-1265.219135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.51; MB_Bottom_Detect_Filter_Max_Range = 235.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1264.270876 meters looking forward 100.000000 meters along route # Maximum depth: 1275.748781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.270876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740302; longitude = -122.020497; captureRadius = 10; duration = 75; initialDepth = 1222.706566; finalDepth = 1214.270876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8327649999999 # Actual altitude: 51.8327649999999 # Commanded vehicle depth:1214.270876 # Seafloor depth:-1266.103641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1272.706566 meters looking forward 100.000000 meters along route # Maximum depth: 1278.224178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1222.706566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739678; longitude = -122.020161; captureRadius = 10; duration = 75; initialDepth = 1227.527427; finalDepth = 1222.706566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1976459999998 # Actual altitude: 53.1976459999998 # Commanded vehicle depth:1222.706566 # Seafloor depth:-1275.904212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1277.527427 meters looking forward 100.000000 meters along route # Maximum depth: 1278.844786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.527427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739055; longitude = -122.019825; captureRadius = 10; duration = 75; initialDepth = 1228.773764; finalDepth = 1227.527427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1976459999998 # Actual altitude: 53.1976459999998 # Commanded vehicle depth:1227.527427 # Seafloor depth:-1278.269124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1278.773764 meters looking forward 100.000000 meters along route # Maximum depth: 1279.705546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.773764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738431; longitude = -122.019489; captureRadius = 10; duration = 75; initialDepth = 1229.554958; finalDepth = 1228.773764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7416969999999 # Actual altitude: 50.7416969999999 # Commanded vehicle depth:1228.773764 # Seafloor depth:-1278.849009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1279.554958 meters looking forward 100.000000 meters along route # Maximum depth: 1283.487106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.554958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737808; longitude = -122.019153; captureRadius = 10; duration = 75; initialDepth = 1232.071551; finalDepth = 1229.554958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1832120000001 # Actual altitude: 50.1832120000001 # Commanded vehicle depth:1229.554958 # Seafloor depth:-1279.738170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1282.071551 meters looking forward 100.000000 meters along route # Maximum depth: 1286.397967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.071551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737185; longitude = -122.018817; captureRadius = 10; duration = 75; initialDepth = 1235.798351; finalDepth = 1232.071551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7237660000001 # Actual altitude: 51.7237660000001 # Commanded vehicle depth:1232.071551 # Seafloor depth:-1283.795317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1285.798351 meters looking forward 100.000000 meters along route # Maximum depth: 1288.744836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.798351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736561; longitude = -122.018481; captureRadius = 10; duration = 75; initialDepth = 1237.798569; finalDepth = 1235.798351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7237660000001 # Actual altitude: 51.7237660000001 # Commanded vehicle depth:1235.798351 # Seafloor depth:-1286.561910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1287.798569 meters looking forward 100.000000 meters along route # Maximum depth: 1292.686181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.798569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735938; longitude = -122.018145; captureRadius = 10; duration = 75; initialDepth = 1242.015444; finalDepth = 1237.798569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.07663 # Actual altitude: 51.07663 # Commanded vehicle depth:1237.798569 # Seafloor depth:-1288.875199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1292.015444 meters looking forward 100.000000 meters along route # Maximum depth: 1292.713970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.015444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735314; longitude = -122.017808; captureRadius = 10; duration = 75; initialDepth = 1242.355082; finalDepth = 1242.015444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.07663 # Actual altitude: 51.07663 # Commanded vehicle depth:1242.015444 # Seafloor depth:-1292.692185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 75.122579 meters # Minimum depth: 1292.355082 meters looking forward 100.000000 meters along route # Maximum depth: 1294.758195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.355082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734691; longitude = -122.017472; captureRadius = 10; duration = 75; initialDepth = 1242.657810; finalDepth = 1242.355082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6767410000002 # Actual altitude: 50.6767410000002 # Commanded vehicle depth:1242.355082 # Seafloor depth:-1292.625579 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 75.122579 meters # Minimum depth: 1292.657810 meters looking forward 100.000000 meters along route # Maximum depth: 1295.644854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.657810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734033; longitude = -122.017118; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1244.743245; finalDepth = 1242.657810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.085435 # Actual altitude: 52.085435 # Commanded vehicle depth:1242.65781 # Seafloor depth:-1294.743245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.122579 meters # Minimum depth: 1294.743245 meters looking forward 100.000000 meters along route # Maximum depth: 1301.581511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.743245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733916; longitude = -122.017304; captureRadius = 10; duration = 75; initialDepth = 1248.999072; finalDepth = 1244.743245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.085435 # Actual altitude: 52.085435 # Commanded vehicle depth:1244.743245 # Seafloor depth:-1295.784180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.122579 meters # Minimum depth: 1298.999072 meters looking forward 100.000000 meters along route # Maximum depth: 1301.904648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.999072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733497; longitude = -122.017976; captureRadius = 10; duration = 75; initialDepth = 1248.999072; finalDepth = 1248.999072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7253599999999 # Actual altitude: 52.7253599999999 # Commanded vehicle depth:1248.999072 # Seafloor depth:-1301.724432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 75.122579 meters # Minimum depth: 1298.999072 meters looking forward 100.000000 meters along route # Maximum depth: 1303.059076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.999072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733071; longitude = -122.018660; captureRadius = 10; duration = 75; initialDepth = 1250.904196; finalDepth = 1248.999072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7253599999999 # Actual altitude: 52.7253599999999 # Commanded vehicle depth:1248.999072 # Seafloor depth:-1299.069702 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 75.122579 meters # Minimum depth: 1300.904196 meters looking forward 100.000000 meters along route # Maximum depth: 1310.099860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.904196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732636; longitude = -122.019358; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1259.042837; finalDepth = 1250.904196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.542907 # Actual altitude: 52.542907 # Commanded vehicle depth:1250.904196 # Seafloor depth:-1303.447103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.122579 meters # Minimum depth: 1309.042837 meters looking forward 100.000000 meters along route # Maximum depth: 1314.091131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1259.042837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732441; longitude = -122.020031; captureRadius = 10; duration = 75; initialDepth = 1263.234271; finalDepth = 1259.042837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.542907 # Actual altitude: 52.542907 # Commanded vehicle depth:1259.042837 # Seafloor depth:-1310.275585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 75.122579 meters # Minimum depth: 1313.234271 meters looking forward 100.000000 meters along route # Maximum depth: 1318.849101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1263.234271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732208; longitude = -122.020833; captureRadius = 10; duration = 75; initialDepth = 1265.456345; finalDepth = 1263.234271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2327480000001 # Actual altitude: 51.2327480000001 # Commanded vehicle depth:1263.234271 # Seafloor depth:-1314.254551 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 75.122579 meters # Minimum depth: 1315.456345 meters looking forward 100.000000 meters along route # Maximum depth: 1321.331993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.456345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731975; longitude = -122.021636; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1270.034262; finalDepth = 1265.456345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0776719999999 # Actual altitude: 53.0776719999999 # Commanded vehicle depth:1265.456345 # Seafloor depth:-1318.534017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 75.122579 meters # Minimum depth: 1320.034262 meters looking forward 100.000000 meters along route # Maximum depth: 1327.837498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1270.034262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731675; longitude = -122.021459; captureRadius = 10; duration = 75; initialDepth = 1274.770028; finalDepth = 1270.034262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0776719999999 # Actual altitude: 53.0776719999999 # Commanded vehicle depth:1270.034262 # Seafloor depth:-1321.770212 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 75.122579 meters # Minimum depth: 1324.770028 meters looking forward 100.000000 meters along route # Maximum depth: 1329.942047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1274.770028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731059; longitude = -122.021095; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1278.929279; finalDepth = 1274.770028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.240145 # Actual altitude: 53.240145 # Commanded vehicle depth:1274.770028 # Seafloor depth:-1328.010173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.122579 meters # Minimum depth: 1328.929279 meters looking forward 100.000000 meters along route # Maximum depth: 1330.951779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.929279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730893; longitude = -122.020497; captureRadius = 10; duration = 75; initialDepth = 1276.848674; finalDepth = 1278.929279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.240145 # Actual altitude: 53.240145 # Commanded vehicle depth:1278.929279 # Seafloor depth:-1330.023224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.122579 meters # Minimum depth: 1326.848674 meters looking forward 100.000000 meters along route # Maximum depth: 1329.767633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1276.848674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730659; longitude = -122.019657; captureRadius = 10; duration = 75; initialDepth = 1263.593294; finalDepth = 1276.848674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5047929999998 # Actual altitude: 51.5047929999998 # Commanded vehicle depth:1276.848674 # Seafloor depth:-1328.353467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 75.122579 meters # Minimum depth: 1313.593294 meters looking forward 100.000000 meters along route # Maximum depth: 1327.036878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1263.593294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730426; longitude = -122.018817; captureRadius = 10; duration = 75; initialDepth = 1255.074250; finalDepth = 1263.593294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1965499999999 # Actual altitude: 63.1965499999999 # Commanded vehicle depth:1263.593294 # Seafloor depth:-1326.789844 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 252.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 75.122579 meters # Minimum depth: 1305.074250 meters looking forward 100.000000 meters along route # Maximum depth: 1326.880017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.074250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730203; longitude = -122.018014; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1238.396182; finalDepth = 1255.074250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1965499999999 # Actual altitude: 63.1965499999999 # Commanded vehicle depth:1255.07425 # Seafloor depth:-1313.159505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 252.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.122579 meters # Minimum depth: 1288.396182 meters looking forward 100.000000 meters along route # Maximum depth: 1315.056605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.396182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730323; longitude = -122.017970; captureRadius = 10; duration = 75; initialDepth = 1238.265751; finalDepth = 1238.396182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5045910000001 # Actual altitude: 65.5045910000001 # Commanded vehicle depth:1238.396182 # Seafloor depth:-1303.900773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 262.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.122579 meters # Minimum depth: 1288.265751 meters looking forward 100.000000 meters along route # Maximum depth: 1293.604631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.265751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730999; longitude = -122.017727; captureRadius = 10; duration = 75; initialDepth = 1241.872016; finalDepth = 1238.265751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5045910000001 # Actual altitude: 65.5045910000001 # Commanded vehicle depth:1238.265751 # Seafloor depth:-1288.265751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 262.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.122579 meters # Minimum depth: 1291.872016 meters looking forward 100.000000 meters along route # Maximum depth: 1300.028185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.872016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731675; longitude = -122.017483; captureRadius = 10; duration = 75; initialDepth = 1248.689864; finalDepth = 1241.872016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4094029999999 # Actual altitude: 52.4094029999999 # Commanded vehicle depth:1241.872016 # Seafloor depth:-1294.281419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 75.122579 meters # Minimum depth: 1298.689864 meters looking forward 100.000000 meters along route # Maximum depth: 1301.398704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1248.689864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732324; longitude = -122.017248; captureRadius = 10; duration = 75; initialDepth = 1245.275894; finalDepth = 1248.689864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4094029999999 # Actual altitude: 52.4094029999999 # Commanded vehicle depth:1248.689864 # Seafloor depth:-1300.049936 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 75.122579 meters # Minimum depth: 1295.275894 meters looking forward 100.000000 meters along route # Maximum depth: 1301.398704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1245.275894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732996; longitude = -122.017006; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1239.415262; finalDepth = 1245.275894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2493339999999 # Actual altitude: 53.2493339999999 # Commanded vehicle depth:1245.275894 # Seafloor depth:-1298.525228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 75.122579 meters # Minimum depth: 1289.415262 meters looking forward 100.000000 meters along route # Maximum depth: 1296.177645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.415262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732874; longitude = -122.016464; captureRadius = 10; duration = 75; initialDepth = 1239.361491; finalDepth = 1239.415262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4693560000001 # Actual altitude: 55.4693560000001 # Commanded vehicle depth:1239.415262 # Seafloor depth:-1294.884618 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 75.122579 meters # Minimum depth: 1289.361491 meters looking forward 100.000000 meters along route # Maximum depth: 1292.901362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.361491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732681; longitude = -122.015605; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1235.809574; finalDepth = 1239.361491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4693560000001 # Actual altitude: 55.4693560000001 # Commanded vehicle depth:1239.361491 # Seafloor depth:-1289.361491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.122579 meters # Minimum depth: 1285.809574 meters looking forward 100.000000 meters along route # Maximum depth: 1291.719241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.809574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732305; longitude = -122.015737; captureRadius = 10; duration = 75; initialDepth = 1225.004133; finalDepth = 1235.809574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7400719999998 # Actual altitude: 55.7400719999998 # Commanded vehicle depth:1235.809574 # Seafloor depth:-1291.549646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 222.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.122579 meters # Minimum depth: 1275.004133 meters looking forward 100.000000 meters along route # Maximum depth: 1288.608270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.004133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731630; longitude = -122.015975; captureRadius = 10; duration = 75; initialDepth = 1225.630446; finalDepth = 1225.004133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.294441 # Actual altitude: 59.294441 # Commanded vehicle depth:1225.004133 # Seafloor depth:-1284.298574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 237.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.122579 meters # Minimum depth: 1275.630446 meters looking forward 100.000000 meters along route # Maximum depth: 1290.357290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.630446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730954; longitude = -122.016212; captureRadius = 10; duration = 75; initialDepth = 1238.736911; finalDepth = 1225.630446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.294441 # Actual altitude: 59.294441 # Commanded vehicle depth:1225.630446 # Seafloor depth:-1279.088710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 237.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.122579 meters # Minimum depth: 1288.736911 meters looking forward 100.000000 meters along route # Maximum depth: 1322.705936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.736911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730278; longitude = -122.016450; captureRadius = 10; duration = 75; initialDepth = 1262.020472; finalDepth = 1238.736911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4582640000001 # Actual altitude: 53.4582640000001 # Commanded vehicle depth:1238.736911 # Seafloor depth:-1291.898801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 75.122579 meters # Minimum depth: 1312.020472 meters looking forward 100.000000 meters along route # Maximum depth: 1337.055059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.020472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729601; longitude = -122.016688; captureRadius = 10; duration = 75; initialDepth = 1259.942669; finalDepth = 1262.020472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.703561 # Actual altitude: 60.703561 # Commanded vehicle depth:1262.020472 # Seafloor depth:-1322.724033 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 242.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 75.122579 meters # Minimum depth: 1309.942669 meters looking forward 100.000000 meters along route # Maximum depth: 1337.223470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1259.942669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728911; longitude = -122.016931; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1219.111450; finalDepth = 1259.942669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2808009999999 # Actual altitude: 77.2808009999999 # Commanded vehicle depth:1259.942669 # Seafloor depth:-1337.223470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.91; MB_Bottom_Detect_Filter_Max_Range = 309.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 75.122579 meters # Minimum depth: 1269.111450 meters looking forward 100.000000 meters along route # Maximum depth: 1319.718637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.111450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728773; longitude = -122.016296; captureRadius = 10; duration = 75; initialDepth = 1215.468863; finalDepth = 1219.111450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5563219999999 # Actual altitude: 87.5563219999999 # Commanded vehicle depth:1219.11145 # Seafloor depth:-1306.667772 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 75.122579 meters # Minimum depth: 1265.468863 meters looking forward 100.000000 meters along route # Maximum depth: 1292.618061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.468863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728595; longitude = -122.015474; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1215.097415; finalDepth = 1215.468863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.5563219999999 # Actual altitude: 87.5563219999999 # Commanded vehicle depth:1215.468863 # Seafloor depth:-1267.341634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.02; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.122579 meters # Minimum depth: 1265.097415 meters looking forward 100.000000 meters along route # Maximum depth: 1268.353326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.097415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729016; longitude = -122.015331; captureRadius = 10; duration = 75; initialDepth = 1212.386341; finalDepth = 1215.097415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8727710000001 # Actual altitude: 51.8727710000001 # Commanded vehicle depth:1215.097415 # Seafloor depth:-1265.913832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.122579 meters # Minimum depth: 1262.386341 meters looking forward 100.000000 meters along route # Maximum depth: 1267.948067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.386341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729692; longitude = -122.015101; captureRadius = 10; duration = 75; initialDepth = 1207.891737; finalDepth = 1212.386341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5967820000001 # Actual altitude: 53.5967820000001 # Commanded vehicle depth:1212.386341 # Seafloor depth:-1265.983123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.122579 meters # Minimum depth: 1257.891737 meters looking forward 100.000000 meters along route # Maximum depth: 1264.066418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.891737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730368; longitude = -122.014871; captureRadius = 10; duration = 75; initialDepth = 1207.289497; finalDepth = 1207.891737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.875282 # Actual altitude: 53.875282 # Commanded vehicle depth:1207.891737 # Seafloor depth:-1261.767019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.122579 meters # Minimum depth: 1257.289497 meters looking forward 100.000000 meters along route # Maximum depth: 1263.983611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.289497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731044; longitude = -122.014641; captureRadius = 10; duration = 75; initialDepth = 1211.007948; finalDepth = 1207.289497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.875282 # Actual altitude: 53.875282 # Commanded vehicle depth:1207.289497 # Seafloor depth:-1257.716255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 75.122579 meters # Minimum depth: 1261.007948 meters looking forward 100.000000 meters along route # Maximum depth: 1278.200616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.007948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731720; longitude = -122.014411; captureRadius = 10; duration = 75; initialDepth = 1219.187792; finalDepth = 1211.007948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.146062 # Actual altitude: 54.146062 # Commanded vehicle depth:1211.007948 # Seafloor depth:-1265.154010 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 75.122579 meters # Minimum depth: 1269.187792 meters looking forward 100.000000 meters along route # Maximum depth: 1278.366699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.187792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732381; longitude = -122.014186; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1220.140833; finalDepth = 1219.187792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.178907 # Actual altitude: 59.178907 # Commanded vehicle depth:1219.187792 # Seafloor depth:-1278.366699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 236.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.122579 meters # Minimum depth: 1270.140833 meters looking forward 100.000000 meters along route # Maximum depth: 1277.524674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.140833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732576; longitude = -122.013857; captureRadius = 10; duration = 75; initialDepth = 1204.243387; finalDepth = 1220.140833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.178907 # Actual altitude: 59.178907 # Commanded vehicle depth:1220.140833 # Seafloor depth:-1275.876623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.67; MB_Bottom_Detect_Filter_Max_Range = 236.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 75.122579 meters # Minimum depth: 1254.243387 meters looking forward 100.000000 meters along route # Maximum depth: 1272.056519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.243387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732991; longitude = -122.013159; captureRadius = 10; duration = 75; initialDepth = 1203.603760; finalDepth = 1204.243387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 65.642992 # Actual altitude: 65.642992 # Commanded vehicle depth:1204.243387 # Seafloor depth:-1269.886379 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 262.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 75.122579 meters # Minimum depth: 1253.603760 meters looking forward 100.000000 meters along route # Maximum depth: 1268.161223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.603760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733402; longitude = -122.012468; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1204.631946; finalDepth = 1203.603760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.642992 # Actual altitude: 65.642992 # Commanded vehicle depth:1203.60376 # Seafloor depth:-1253.603760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 262.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1254.631946 meters looking forward 100.000000 meters along route # Maximum depth: 1259.880695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.631946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733679; longitude = -122.012599; captureRadius = 10; duration = 75; initialDepth = 1209.095890; finalDepth = 1204.631946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6424440000001 # Actual altitude: 51.6424440000001 # Commanded vehicle depth:1204.631946 # Seafloor depth:-1256.274390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1259.095890 meters looking forward 100.000000 meters along route # Maximum depth: 1263.654384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.095890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734333; longitude = -122.012907; captureRadius = 10; duration = 75; initialDepth = 1212.937724; finalDepth = 1209.095890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6424440000001 # Actual altitude: 51.6424440000001 # Commanded vehicle depth:1209.09589 # Seafloor depth:-1259.116333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1262.937724 meters looking forward 100.000000 meters along route # Maximum depth: 1267.647525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.937724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734988; longitude = -122.013215; captureRadius = 10; duration = 75; initialDepth = 1217.042879; finalDepth = 1212.937724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3030350000001 # Actual altitude: 50.3030350000001 # Commanded vehicle depth:1212.937724 # Seafloor depth:-1263.240759 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1267.042879 meters looking forward 100.000000 meters along route # Maximum depth: 1270.685791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.042879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735640; longitude = -122.013522; captureRadius = 10; duration = 75; initialDepth = 1217.017201; finalDepth = 1217.042879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2320869999999 # Actual altitude: 51.2320869999999 # Commanded vehicle depth:1217.042879 # Seafloor depth:-1268.274966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1267.017201 meters looking forward 100.000000 meters along route # Maximum depth: 1270.773211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.017201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736296; longitude = -122.013831; captureRadius = 10; duration = 75; initialDepth = 1215.178969; finalDepth = 1217.017201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2320869999999 # Actual altitude: 51.2320869999999 # Commanded vehicle depth:1217.017201 # Seafloor depth:-1267.229632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1265.178969 meters looking forward 100.000000 meters along route # Maximum depth: 1270.773211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.178969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736947; longitude = -122.014138; captureRadius = 10; duration = 75; initialDepth = 1209.852803; finalDepth = 1215.178969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8678789999999 # Actual altitude: 53.8678789999999 # Commanded vehicle depth:1215.178969 # Seafloor depth:-1269.046848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 75.122579 meters # Minimum depth: 1259.852803 meters looking forward 100.000000 meters along route # Maximum depth: 1267.603289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.852803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737604; longitude = -122.014447; captureRadius = 10; duration = 75; initialDepth = 1208.341347; finalDepth = 1209.852803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9857179999999 # Actual altitude: 55.9857179999999 # Commanded vehicle depth:1209.852803 # Seafloor depth:-1265.838521 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 75.122579 meters # Minimum depth: 1258.341347 meters looking forward 100.000000 meters along route # Maximum depth: 1267.603289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.341347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738239; longitude = -122.014746; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1207.858721; finalDepth = 1208.341347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9857179999999 # Actual altitude: 55.9857179999999 # Commanded vehicle depth:1208.341347 # Seafloor depth:-1259.265625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 223.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1257.858721 meters looking forward 100.000000 meters along route # Maximum depth: 1261.765627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.858721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738344; longitude = -122.014825; captureRadius = 10; duration = 75; initialDepth = 1207.845631; finalDepth = 1207.858721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.924278 # Actual altitude: 50.924278 # Commanded vehicle depth:1207.858721 # Seafloor depth:-1257.858721 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1257.845631 meters looking forward 100.000000 meters along route # Maximum depth: 1260.898972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.845631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738929; longitude = -122.015264; captureRadius = 10; duration = 75; initialDepth = 1209.454901; finalDepth = 1207.845631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4007710000001 # Actual altitude: 51.4007710000001 # Commanded vehicle depth:1207.845631 # Seafloor depth:-1259.246402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1259.454901 meters looking forward 100.000000 meters along route # Maximum depth: 1263.830932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.454901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739515; longitude = -122.015703; captureRadius = 10; duration = 75; initialDepth = 1212.165832; finalDepth = 1209.454901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4007710000001 # Actual altitude: 51.4007710000001 # Commanded vehicle depth:1209.454901 # Seafloor depth:-1260.813452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1262.165832 meters looking forward 100.000000 meters along route # Maximum depth: 1263.830932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.165832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740101; longitude = -122.016143; captureRadius = 10; duration = 75; initialDepth = 1207.527056; finalDepth = 1212.165832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.358551 # Actual altitude: 51.358551 # Commanded vehicle depth:1212.165832 # Seafloor depth:-1263.341454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1257.527056 meters looking forward 100.000000 meters along route # Maximum depth: 1262.691840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.527056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740687; longitude = -122.016582; captureRadius = 10; duration = 75; initialDepth = 1202.363731; finalDepth = 1207.527056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8794260000002 # Actual altitude: 54.8794260000002 # Commanded vehicle depth:1207.527056 # Seafloor depth:-1262.406482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1252.363731 meters looking forward 100.000000 meters along route # Maximum depth: 1260.943211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.363731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741277; longitude = -122.017024; captureRadius = 10; duration = 75; initialDepth = 1196.728287; finalDepth = 1202.363731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.091187 # Actual altitude: 55.091187 # Commanded vehicle depth:1202.363731 # Seafloor depth:-1257.454918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1246.728287 meters looking forward 100.000000 meters along route # Maximum depth: 1253.504845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.728287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741858; longitude = -122.017460; captureRadius = 10; duration = 75; initialDepth = 1188.827944; finalDepth = 1196.728287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4631260000001 # Actual altitude: 55.4631260000001 # Commanded vehicle depth:1196.728287 # Seafloor depth:-1252.191413 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.19; MB_Bottom_Detect_Filter_Max_Range = 221.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 75.122579 meters # Minimum depth: 1238.827944 meters looking forward 100.000000 meters along route # Maximum depth: 1247.333922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.827944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742444; longitude = -122.017899; captureRadius = 10; duration = 75; initialDepth = 1180.287305; finalDepth = 1188.827944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.824568 # Actual altitude: 57.824568 # Commanded vehicle depth:1188.827944 # Seafloor depth:-1246.652512 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 231.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 75.122579 meters # Minimum depth: 1230.287305 meters looking forward 100.000000 meters along route # Maximum depth: 1245.531408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.287305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743045; longitude = -122.018350; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1160.113220; finalDepth = 1180.287305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.015429 # Actual altitude: 58.015429 # Commanded vehicle depth:1180.287305 # Seafloor depth:-1238.302734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.21; MB_Bottom_Detect_Filter_Max_Range = 232.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1210.113220 meters looking forward 100.000000 meters along route # Maximum depth: 1234.322144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.113220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743345; longitude = -122.018649; captureRadius = 10; duration = 75; initialDepth = 1153.421021; finalDepth = 1160.113220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9463499999999 # Actual altitude: 68.9463499999999 # Commanded vehicle depth:1160.11322 # Seafloor depth:-1229.059570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 275.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1203.421021 meters looking forward 100.000000 meters along route # Maximum depth: 1215.670837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.421021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743886; longitude = -122.019186; captureRadius = 10; duration = 75; initialDepth = 1153.421021; finalDepth = 1153.421021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9463499999999 # Actual altitude: 68.9463499999999 # Commanded vehicle depth:1153.421021 # Seafloor depth:-1209.011841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 275.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1203.421021 meters looking forward 100.000000 meters along route # Maximum depth: 1209.438354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.421021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744427; longitude = -122.019724; captureRadius = 10; duration = 75; initialDepth = 1151.751892; finalDepth = 1153.421021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5908199999999 # Actual altitude: 55.5908199999999 # Commanded vehicle depth:1153.421021 # Seafloor depth:-1203.834766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1201.751892 meters looking forward 100.000000 meters along route # Maximum depth: 1209.438354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.751892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744979; longitude = -122.020273; captureRadius = 10; duration = 75; initialDepth = 1149.425586; finalDepth = 1151.751892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9780270000001 # Actual altitude: 56.9780270000001 # Commanded vehicle depth:1151.751892 # Seafloor depth:-1208.729919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1199.425586 meters looking forward 100.000000 meters along route # Maximum depth: 1203.570435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.425586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745508; longitude = -122.020800; captureRadius = 10; duration = 75; initialDepth = 1151.345215; finalDepth = 1149.425586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9780270000001 # Actual altitude: 56.9780270000001 # Commanded vehicle depth:1149.425586 # Seafloor depth:-1201.393188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1201.345215 meters looking forward 100.000000 meters along route # Maximum depth: 1203.728027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.345215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746049; longitude = -122.021338; captureRadius = 10; duration = 75; initialDepth = 1152.104126; finalDepth = 1151.345215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9676019999999 # Actual altitude: 51.9676019999999 # Commanded vehicle depth:1151.345215 # Seafloor depth:-1202.635864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 207.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1202.104126 meters looking forward 100.000000 meters along route # Maximum depth: 1205.463806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.104126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746590; longitude = -122.021875; captureRadius = 10; duration = 75; initialDepth = 1144.768311; finalDepth = 1152.104126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.290649 # Actual altitude: 51.290649 # Commanded vehicle depth:1152.104126 # Seafloor depth:-1202.125293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1194.768311 meters looking forward 100.000000 meters along route # Maximum depth: 1206.439746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.768311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747131; longitude = -122.022413; captureRadius = 10; duration = 75; initialDepth = 1142.384570; finalDepth = 1144.768311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.815771 # Actual altitude: 60.815771 # Commanded vehicle depth:1144.768311 # Seafloor depth:-1205.584082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 75.122579 meters # Minimum depth: 1192.384570 meters looking forward 100.000000 meters along route # Maximum depth: 1199.863525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.384570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747683; longitude = -122.022962; captureRadius = 10; duration = 75; initialDepth = 1142.384570; finalDepth = 1142.384570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.815771 # Actual altitude: 60.815771 # Commanded vehicle depth:1142.38457 # Seafloor depth:-1194.659790 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 75.122579 meters # Minimum depth: 1192.384570 meters looking forward 100.000000 meters along route # Maximum depth: 1196.627075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.384570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748227; longitude = -122.023504; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1142.797967; finalDepth = 1142.384570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8921230000001 # Actual altitude: 52.8921230000001 # Commanded vehicle depth:1142.38457 # Seafloor depth:-1195.276693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1192.797967 meters looking forward 100.000000 meters along route # Maximum depth: 1195.285512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.797967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748308; longitude = -122.023578; captureRadius = 10; duration = 75; initialDepth = 1143.245348; finalDepth = 1142.797967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8921230000001 # Actual altitude: 52.8921230000001 # Commanded vehicle depth:1142.797967 # Seafloor depth:-1195.198033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1193.245348 meters looking forward 100.000000 meters along route # Maximum depth: 1197.051634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.245348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748854; longitude = -122.024083; captureRadius = 10; duration = 75; initialDepth = 1140.784071; finalDepth = 1143.245348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4000659999999 # Actual altitude: 52.4000659999999 # Commanded vehicle depth:1143.245348 # Seafloor depth:-1195.433624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1190.784071 meters looking forward 100.000000 meters along route # Maximum depth: 1194.700048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.784071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749400; longitude = -122.024587; captureRadius = 10; duration = 75; initialDepth = 1140.784071; finalDepth = 1140.784071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4021 # Actual altitude: 52.4021 # Commanded vehicle depth:1140.784071 # Seafloor depth:-1193.186171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1190.784071 meters looking forward 100.000000 meters along route # Maximum depth: 1200.162918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.784071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749947; longitude = -122.025091; captureRadius = 10; duration = 75; initialDepth = 1148.161854; finalDepth = 1140.784071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4021 # Actual altitude: 52.4021 # Commanded vehicle depth:1140.784071 # Seafloor depth:-1192.020647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1198.161854 meters looking forward 100.000000 meters along route # Maximum depth: 1203.938800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.161854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750493; longitude = -122.025595; captureRadius = 10; duration = 75; initialDepth = 1152.360460; finalDepth = 1148.161854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.21441 # Actual altitude: 52.21441 # Commanded vehicle depth:1148.161854 # Seafloor depth:-1200.376264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1202.360460 meters looking forward 100.000000 meters along route # Maximum depth: 1204.601164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.360460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751039; longitude = -122.026099; captureRadius = 10; duration = 75; initialDepth = 1138.387472; finalDepth = 1152.360460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.21441 # Actual altitude: 52.21441 # Commanded vehicle depth:1152.36046 # Seafloor depth:-1204.042384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1188.387472 meters looking forward 100.000000 meters along route # Maximum depth: 1204.349267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.387472 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751585; longitude = -122.026603; captureRadius = 10; duration = 75; initialDepth = 1129.745053; finalDepth = 1138.387472; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.8132370000001 # Actual altitude: 63.8132370000001 # Commanded vehicle depth:1138.387472 # Seafloor depth:-1202.200709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 255.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1179.745053 meters looking forward 100.000000 meters along route # Maximum depth: 1192.083096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.745053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752132; longitude = -122.027109; captureRadius = 10; duration = 75; initialDepth = 1129.513502; finalDepth = 1129.745053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.8132370000001 # Actual altitude: 63.8132370000001 # Commanded vehicle depth:1129.745053 # Seafloor depth:-1188.354442 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 255.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 75.122579 meters # Minimum depth: 1179.513502 meters looking forward 100.000000 meters along route # Maximum depth: 1180.937648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.513502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752678; longitude = -122.027612; captureRadius = 10; duration = 75; initialDepth = 1129.513502; finalDepth = 1129.513502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.609389 # Actual altitude: 58.609389 # Commanded vehicle depth:1129.513502 # Seafloor depth:-1180.296359 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 75.122579 meters # Minimum depth: 1179.513502 meters looking forward 100.000000 meters along route # Maximum depth: 1180.937648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.513502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753244; longitude = -122.028135; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1129.513502; finalDepth = 1129.513502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7828569999999 # Actual altitude: 50.7828569999999 # Commanded vehicle depth:1129.513502 # Seafloor depth:-1179.621094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.122579 meters # Minimum depth: 1179.513502 meters looking forward 100.000000 meters along route # Maximum depth: 1186.866098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.513502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753359; longitude = -122.028228; captureRadius = 10; duration = 75; initialDepth = 1133.826581; finalDepth = 1129.513502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.047317 # Actual altitude: 51.047317 # Commanded vehicle depth:1129.513502 # Seafloor depth:-1180.560819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.122579 meters # Minimum depth: 1183.826581 meters looking forward 100.000000 meters along route # Maximum depth: 1193.843750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.826581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753935; longitude = -122.028693; captureRadius = 10; duration = 75; initialDepth = 1140.414648; finalDepth = 1133.826581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3762879999999 # Actual altitude: 53.3762879999999 # Commanded vehicle depth:1133.826581 # Seafloor depth:-1187.202869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.122579 meters # Minimum depth: 1190.414648 meters looking forward 100.000000 meters along route # Maximum depth: 1195.865002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1140.414648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754538; longitude = -122.029180; captureRadius = 10; duration = 75; initialDepth = 1136.633423; finalDepth = 1140.414648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.830244 # Actual altitude: 53.830244 # Commanded vehicle depth:1140.414648 # Seafloor depth:-1194.244892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.122579 meters # Minimum depth: 1186.633423 meters looking forward 100.000000 meters along route # Maximum depth: 1194.808258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.633423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755106; longitude = -122.029640; captureRadius = 10; duration = 75; initialDepth = 1121.919809; finalDepth = 1136.633423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3499999999999 # Actual altitude: 57.3499999999999 # Commanded vehicle depth:1136.633423 # Seafloor depth:-1193.983423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.94; MB_Bottom_Detect_Filter_Max_Range = 229.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.122579 meters # Minimum depth: 1171.919809 meters looking forward 100.000000 meters along route # Maximum depth: 1186.754492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.919809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755692; longitude = -122.030113; captureRadius = 10; duration = 75; initialDepth = 1112.977041; finalDepth = 1121.919809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.580209 # Actual altitude: 64.580209 # Commanded vehicle depth:1121.919809 # Seafloor depth:-1186.500018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 75.122579 meters # Minimum depth: 1162.977041 meters looking forward 100.000000 meters along route # Maximum depth: 1176.705627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.977041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756278; longitude = -122.030586; captureRadius = 10; duration = 75; initialDepth = 1112.657878; finalDepth = 1112.977041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.580209 # Actual altitude: 64.580209 # Commanded vehicle depth:1112.977041 # Seafloor depth:-1171.779883 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 75.122579 meters # Minimum depth: 1162.657878 meters looking forward 100.000000 meters along route # Maximum depth: 1172.885852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.657878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756849; longitude = -122.031048; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1112.657878; finalDepth = 1112.657878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8028419999998 # Actual altitude: 58.8028419999998 # Commanded vehicle depth:1112.657878 # Seafloor depth:-1162.657878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.122579 meters # Minimum depth: 1162.657878 meters looking forward 100.000000 meters along route # Maximum depth: 1189.839014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.657878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756774; longitude = -122.031197; captureRadius = 10; duration = 75; initialDepth = 1135.654035; finalDepth = 1112.657878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2520340000001 # Actual altitude: 55.2520340000001 # Commanded vehicle depth:1112.657878 # Seafloor depth:-1167.909912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 221.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 75.122579 meters # Minimum depth: 1187.892395 meters looking forward 100.000000 meters along route # Maximum depth: 1194.977509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1135.654035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756408; longitude = -122.031925; captureRadius = 10; duration = 75; initialDepth = 1143.044971; finalDepth = 1135.654035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.2520340000001 # Actual altitude: 55.2520340000001 # Commanded vehicle depth:1135.6540348 # Seafloor depth:-1189.915909 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.10; MB_Bottom_Detect_Filter_Max_Range = 221.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 75.122579 meters # Minimum depth: 1193.044971 meters looking forward 100.000000 meters along route # Maximum depth: 1197.393256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.044971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756023; longitude = -122.032691; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1138.896111; finalDepth = 1143.044971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2618741999997 # Actual altitude: 54.2618741999997 # Commanded vehicle depth:1143.044971 # Seafloor depth:-1195.106120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.70; MB_Bottom_Detect_Filter_Max_Range = 217.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 75.122579 meters # Minimum depth: 1188.896111 meters looking forward 100.000000 meters along route # Maximum depth: 1197.393256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.896111 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755737; longitude = -122.033299; captureRadius = 10; duration = 75; initialDepth = 1132.397044; finalDepth = 1138.896111; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2932960000001 # Actual altitude: 58.2932960000001 # Commanded vehicle depth:1138.896111 # Seafloor depth:-1197.189407 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 75.122579 meters # Minimum depth: 1182.397044 meters looking forward 100.000000 meters along route # Maximum depth: 1194.951131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.397044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755392; longitude = -122.034035; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1127.884107; finalDepth = 1132.397044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2932960000001 # Actual altitude: 58.2932960000001 # Commanded vehicle depth:1132.397044 # Seafloor depth:-1188.280111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 75.122579 meters # Minimum depth: 1177.884107 meters looking forward 100.000000 meters along route # Maximum depth: 1183.187022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.884107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755138; longitude = -122.034558; captureRadius = 10; duration = 75; initialDepth = 1127.322917; finalDepth = 1127.884107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.883067 # Actual altitude: 55.883067 # Commanded vehicle depth:1127.884107 # Seafloor depth:-1182.398538 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 75.122579 meters # Minimum depth: 1177.322917 meters looking forward 100.000000 meters along route # Maximum depth: 1182.976146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1127.322917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754776; longitude = -122.035305; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1130.599003; finalDepth = 1127.322917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5144309999998 # Actual altitude: 54.5144309999998 # Commanded vehicle depth:1127.322917 # Seafloor depth:-1177.322917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.122579 meters # Minimum depth: 1180.599003 meters looking forward 100.000000 meters along route # Maximum depth: 1188.111874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.599003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754205; longitude = -122.035035; captureRadius = 10; duration = 75; initialDepth = 1136.611898; finalDepth = 1130.599003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1248329999999 # Actual altitude: 51.1248329999999 # Commanded vehicle depth:1130.599003 # Seafloor depth:-1181.723836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.122579 meters # Minimum depth: 1186.611898 meters looking forward 100.000000 meters along route # Maximum depth: 1192.460039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.611898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753552; longitude = -122.034726; captureRadius = 10; duration = 75; initialDepth = 1141.287140; finalDepth = 1136.611898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7727269999998 # Actual altitude: 51.7727269999998 # Commanded vehicle depth:1136.611898 # Seafloor depth:-1188.384625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.122579 meters # Minimum depth: 1191.287140 meters looking forward 100.000000 meters along route # Maximum depth: 1195.382987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.287140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752898; longitude = -122.034417; captureRadius = 10; duration = 75; initialDepth = 1142.248760; finalDepth = 1141.287140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8119820000002 # Actual altitude: 51.8119820000002 # Commanded vehicle depth:1141.28714 # Seafloor depth:-1193.099122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 75.122579 meters # Minimum depth: 1192.248760 meters looking forward 100.000000 meters along route # Maximum depth: 1195.908866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.248760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752223; longitude = -122.034098; captureRadius = 10; duration = 75; initialDepth = 1142.128853; finalDepth = 1142.248760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8119820000002 # Actual altitude: 51.8119820000002 # Commanded vehicle depth:1142.24876 # Seafloor depth:-1193.903352 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 75.122579 meters # Minimum depth: 1192.128853 meters looking forward 100.000000 meters along route # Maximum depth: 1195.262285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.128853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751577; longitude = -122.033792; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1144.097610; finalDepth = 1142.128853; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6545920000001 # Actual altitude: 51.6545920000001 # Commanded vehicle depth:1142.128853 # Seafloor depth:-1192.137614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1194.097610 meters looking forward 100.000000 meters along route # Maximum depth: 1196.909606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.097610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751051; longitude = -122.033355; captureRadius = 10; duration = 75; initialDepth = 1143.240297; finalDepth = 1144.097610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0769310000001 # Actual altitude: 50.0769310000001 # Commanded vehicle depth:1144.09761 # Seafloor depth:-1194.174541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1193.240297 meters looking forward 100.000000 meters along route # Maximum depth: 1196.909606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.240297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750465; longitude = -122.032867; captureRadius = 10; duration = 75; initialDepth = 1139.541184; finalDepth = 1143.240297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6667499999999 # Actual altitude: 53.6667499999999 # Commanded vehicle depth:1143.240297 # Seafloor depth:-1196.907047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1189.541184 meters looking forward 100.000000 meters along route # Maximum depth: 1194.103087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.541184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749872; longitude = -122.032373; captureRadius = 10; duration = 75; initialDepth = 1139.460257; finalDepth = 1139.541184; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6667499999999 # Actual altitude: 53.6667499999999 # Commanded vehicle depth:1139.541184 # Seafloor depth:-1193.187400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1189.460257 meters looking forward 100.000000 meters along route # Maximum depth: 1190.321508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.460257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749294; longitude = -122.031891; captureRadius = 10; duration = 75; initialDepth = 1137.710859; finalDepth = 1139.460257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6462160000001 # Actual altitude: 53.6462160000001 # Commanded vehicle depth:1139.460257 # Seafloor depth:-1189.493639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1187.710859 meters looking forward 100.000000 meters along route # Maximum depth: 1190.663122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.710859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748708; longitude = -122.031404; captureRadius = 10; duration = 75; initialDepth = 1138.987090; finalDepth = 1137.710859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6689739999999 # Actual altitude: 51.6689739999999 # Commanded vehicle depth:1137.710859 # Seafloor depth:-1189.379833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1188.987090 meters looking forward 100.000000 meters along route # Maximum depth: 1195.910942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.987090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748122; longitude = -122.030916; captureRadius = 10; duration = 75; initialDepth = 1144.880173; finalDepth = 1138.987090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6943689999998 # Actual altitude: 51.6943689999998 # Commanded vehicle depth:1138.98709 # Seafloor depth:-1190.681459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1194.880173 meters looking forward 100.000000 meters along route # Maximum depth: 1199.375664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.880173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747518; longitude = -122.030413; captureRadius = 10; duration = 75; initialDepth = 1149.055103; finalDepth = 1144.880173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6943689999998 # Actual altitude: 51.6943689999998 # Commanded vehicle depth:1144.880173 # Seafloor depth:-1196.082014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1199.055103 meters looking forward 100.000000 meters along route # Maximum depth: 1202.299469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.055103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746950; longitude = -122.029940; captureRadius = 10; duration = 75; initialDepth = 1148.031288; finalDepth = 1149.055103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2018410000001 # Actual altitude: 51.2018410000001 # Commanded vehicle depth:1149.055103 # Seafloor depth:-1199.534650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1198.031288 meters looking forward 100.000000 meters along route # Maximum depth: 1202.168352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.031288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746365; longitude = -122.029452; captureRadius = 10; duration = 75; initialDepth = 1139.566169; finalDepth = 1148.031288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3094940000001 # Actual altitude: 53.3094940000001 # Commanded vehicle depth:1148.031288 # Seafloor depth:-1201.340782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 75.122579 meters # Minimum depth: 1189.566169 meters looking forward 100.000000 meters along route # Maximum depth: 1198.941907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.566169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745779; longitude = -122.028965; captureRadius = 10; duration = 75; initialDepth = 1138.565634; finalDepth = 1139.566169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2181560000001 # Actual altitude: 58.2181560000001 # Commanded vehicle depth:1139.566169 # Seafloor depth:-1197.784325 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 75.122579 meters # Minimum depth: 1188.565634 meters looking forward 100.000000 meters along route # Maximum depth: 1198.229653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.565634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745208; longitude = -122.028489; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1137.966005; finalDepth = 1138.565634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2181560000001 # Actual altitude: 58.2181560000001 # Commanded vehicle depth:1138.565634 # Seafloor depth:-1189.045654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.122579 meters # Minimum depth: 1187.966005 meters looking forward 100.000000 meters along route # Maximum depth: 1190.388072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.966005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745145; longitude = -122.028396; captureRadius = 10; duration = 75; initialDepth = 1138.981817; finalDepth = 1137.966005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.587904 # Actual altitude: 50.587904 # Commanded vehicle depth:1137.966005 # Seafloor depth:-1188.553909 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.122579 meters # Minimum depth: 1188.981817 meters looking forward 100.000000 meters along route # Maximum depth: 1189.854591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.981817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744689; longitude = -122.027724; captureRadius = 10; duration = 75; initialDepth = 1139.526710; finalDepth = 1138.981817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.587904 # Actual altitude: 50.587904 # Commanded vehicle depth:1138.981817 # Seafloor depth:-1189.245353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.122579 meters # Minimum depth: 1189.526710 meters looking forward 100.000000 meters along route # Maximum depth: 1194.684392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.526710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744234; longitude = -122.027052; captureRadius = 10; duration = 75; initialDepth = 1143.315477; finalDepth = 1139.526710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3084429999999 # Actual altitude: 50.3084429999999 # Commanded vehicle depth:1139.52671 # Seafloor depth:-1189.835153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.122579 meters # Minimum depth: 1193.315477 meters looking forward 100.000000 meters along route # Maximum depth: 1206.457886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.315477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743778; longitude = -122.026379; captureRadius = 10; duration = 75; initialDepth = 1154.314787; finalDepth = 1143.315477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.598086 # Actual altitude: 51.598086 # Commanded vehicle depth:1143.315477 # Seafloor depth:-1194.913563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 75.122579 meters # Minimum depth: 1204.314787 meters looking forward 100.000000 meters along route # Maximum depth: 1216.398016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.314787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743323; longitude = -122.025707; captureRadius = 10; duration = 75; initialDepth = 1154.314787; finalDepth = 1154.314787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.525431 # Actual altitude: 52.525431 # Commanded vehicle depth:1154.314787 # Seafloor depth:-1206.840218 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 75.122579 meters # Minimum depth: 1204.314787 meters looking forward 100.000000 meters along route # Maximum depth: 1216.600749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.314787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742880; longitude = -122.025054; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1154.882165; finalDepth = 1154.314787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2859619999999 # Actual altitude: 62.2859619999999 # Commanded vehicle depth:1154.314787 # Seafloor depth:-1216.600749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 249.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.122579 meters # Minimum depth: 1214.808982 meters looking forward 100.000000 meters along route # Maximum depth: 1224.037996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.882165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742872; longitude = -122.025035; captureRadius = 10; duration = 75; initialDepth = 1173.850058; finalDepth = 1154.882165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2859619999999 # Actual altitude: 62.2859619999999 # Commanded vehicle depth:1154.882165 # Seafloor depth:-1216.845461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 249.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.122579 meters # Minimum depth: 1223.850058 meters looking forward 100.000000 meters along route # Maximum depth: 1226.288862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.850058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742534; longitude = -122.024251; captureRadius = 10; duration = 75; initialDepth = 1175.774103; finalDepth = 1173.850058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9632960000004 # Actual altitude: 61.9632960000004 # Commanded vehicle depth:1173.850058 # Seafloor depth:-1224.009814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 247.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.122579 meters # Minimum depth: 1225.774103 meters looking forward 100.000000 meters along route # Maximum depth: 1231.200505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.774103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742196; longitude = -122.023466; captureRadius = 10; duration = 75; initialDepth = 1179.448445; finalDepth = 1175.774103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.746081 # Actual altitude: 50.746081 # Commanded vehicle depth:1175.774103 # Seafloor depth:-1226.520184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.122579 meters # Minimum depth: 1229.448445 meters looking forward 100.000000 meters along route # Maximum depth: 1240.936659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.448445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741858; longitude = -122.022682; captureRadius = 10; duration = 75; initialDepth = 1187.322601; finalDepth = 1179.448445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.76884 # Actual altitude: 51.76884 # Commanded vehicle depth:1179.448445 # Seafloor depth:-1231.217285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 75.122579 meters # Minimum depth: 1237.322601 meters looking forward 100.000000 meters along route # Maximum depth: 1262.155508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.322601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741520; longitude = -122.021898; captureRadius = 10; duration = 75; initialDepth = 1188.478556; finalDepth = 1187.322601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8683209999999 # Actual altitude: 54.8683209999999 # Commanded vehicle depth:1187.322601 # Seafloor depth:-1242.190922 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 75.122579 meters # Minimum depth: 1238.478556 meters looking forward 100.000000 meters along route # Maximum depth: 1262.450684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.478556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741198; longitude = -122.021151; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1189.037525; finalDepth = 1188.478556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9721279999999 # Actual altitude: 73.9721279999999 # Commanded vehicle depth:1188.478556 # Seafloor depth:-1262.450684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.59; MB_Bottom_Detect_Filter_Max_Range = 295.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.122579 meters # Minimum depth: 1258.303671 meters looking forward 100.000000 meters along route # Maximum depth: 1263.258545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.037525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741183; longitude = -122.021142; captureRadius = 10; duration = 75; initialDepth = 1211.092041; finalDepth = 1189.037525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.9721279999999 # Actual altitude: 73.9721279999999 # Commanded vehicle depth:1189.037525 # Seafloor depth:-1262.547424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.59; MB_Bottom_Detect_Filter_Max_Range = 295.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 75.122579 meters # Minimum depth: 1261.092041 meters looking forward 100.000000 meters along route # Maximum depth: 1270.709167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.092041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740552; longitude = -122.020749; captureRadius = 10; duration = 75; initialDepth = 1216.740723; finalDepth = 1211.092041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.5098989999999 # Actual altitude: 73.5098989999999 # Commanded vehicle depth:1211.092041 # Seafloor depth:-1261.546692 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.40; MB_Bottom_Detect_Filter_Max_Range = 294.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 75.122579 meters # Minimum depth: 1266.740723 meters looking forward 100.000000 meters along route # Maximum depth: 1273.549150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1216.740723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739906; longitude = -122.020348; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1218.010770; finalDepth = 1216.740723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2727860000002 # Actual altitude: 54.2727860000002 # Commanded vehicle depth:1216.740723 # Seafloor depth:-1271.013509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.122579 meters # Minimum depth: 1268.010770 meters looking forward 100.000000 meters along route # Maximum depth: 1273.129553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.010770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739290; longitude = -122.020331; captureRadius = 10; duration = 75; initialDepth = 1220.030190; finalDepth = 1218.010770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2727860000002 # Actual altitude: 54.2727860000002 # Commanded vehicle depth:1218.01077 # Seafloor depth:-1270.961803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 75.122579 meters # Minimum depth: 1270.030190 meters looking forward 100.000000 meters along route # Maximum depth: 1275.315985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.030190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738614; longitude = -122.020311; captureRadius = 10; duration = 75; initialDepth = 1221.674483; finalDepth = 1220.030190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0594430000001 # Actual altitude: 53.0594430000001 # Commanded vehicle depth:1220.03019 # Seafloor depth:-1273.089633 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 75.122579 meters # Minimum depth: 1271.674483 meters looking forward 100.000000 meters along route # Maximum depth: 1275.417263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.674483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737923; longitude = -122.020292; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1224.308771; finalDepth = 1221.674483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0594430000001 # Actual altitude: 53.0594430000001 # Commanded vehicle depth:1221.674483 # Seafloor depth:-1274.400879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 75.122579 meters # Minimum depth: 1274.308771 meters looking forward 100.000000 meters along route # Maximum depth: 1280.124436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.308771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737848; longitude = -122.020212; captureRadius = 10; duration = 75; initialDepth = 1228.298814; finalDepth = 1224.308771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.726396 # Actual altitude: 52.726396 # Commanded vehicle depth:1224.308771 # Seafloor depth:-1275.505365 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 75.122579 meters # Minimum depth: 1278.298814 meters looking forward 100.000000 meters along route # Maximum depth: 1280.129395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.298814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737292; longitude = -122.019620; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1228.298814; finalDepth = 1228.298814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8305809999999 # Actual altitude: 51.8305809999999 # Commanded vehicle depth:1228.298814 # Seafloor depth:-1280.129395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.122579 meters # Minimum depth: 1278.298814 meters looking forward 100.000000 meters along route # Maximum depth: 1281.541798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.298814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736721; longitude = -122.019342; captureRadius = 10; duration = 75; initialDepth = 1231.281464; finalDepth = 1228.298814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8305809999999 # Actual altitude: 51.8305809999999 # Commanded vehicle depth:1228.298814 # Seafloor depth:-1278.881454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.122579 meters # Minimum depth: 1281.281464 meters looking forward 100.000000 meters along route # Maximum depth: 1288.330002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.281464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736091; longitude = -122.019035; captureRadius = 10; duration = 75; initialDepth = 1236.850066; finalDepth = 1231.281464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5826400000001 # Actual altitude: 50.5826400000001 # Commanded vehicle depth:1231.281464 # Seafloor depth:-1281.579563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.122579 meters # Minimum depth: 1286.850066 meters looking forward 100.000000 meters along route # Maximum depth: 1288.826106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.850066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735460; longitude = -122.018728; captureRadius = 10; duration = 75; initialDepth = 1236.850066; finalDepth = 1236.850066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.732829 # Actual altitude: 51.732829 # Commanded vehicle depth:1236.850066 # Seafloor depth:-1288.582895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 75.122579 meters # Minimum depth: 1286.850066 meters looking forward 100.000000 meters along route # Maximum depth: 1296.987506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.850066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734829; longitude = -122.018421; captureRadius = 10; duration = 75; initialDepth = 1242.200806; finalDepth = 1236.850066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.732829 # Actual altitude: 51.732829 # Commanded vehicle depth:1236.850066 # Seafloor depth:-1287.172666 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 75.122579 meters # Minimum depth: 1292.200806 meters looking forward 100.000000 meters along route # Maximum depth: 1297.181803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1242.200806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734183; longitude = -122.018107; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1239.992065; finalDepth = 1242.200806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9809969999999 # Actual altitude: 54.9809969999999 # Commanded vehicle depth:1242.200806 # Seafloor depth:-1297.181803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 75.122579 meters # Minimum depth: 1289.992065 meters looking forward 100.000000 meters along route # Maximum depth: 1292.487549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.992065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733747; longitude = -122.018649; captureRadius = 10; duration = 75; initialDepth = 1240.491577; finalDepth = 1239.992065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9809969999999 # Actual altitude: 54.9809969999999 # Commanded vehicle depth:1239.992065 # Seafloor depth:-1292.003906 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 75.122579 meters # Minimum depth: 1290.491577 meters looking forward 100.000000 meters along route # Maximum depth: 1296.053692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1240.491577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733237; longitude = -122.019284; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1244.650361; finalDepth = 1240.491577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.011841 # Actual altitude: 52.011841 # Commanded vehicle depth:1240.491577 # Seafloor depth:-1292.052572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.122579 meters # Minimum depth: 1294.650361 meters looking forward 100.000000 meters along route # Maximum depth: 1301.005669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.650361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733022; longitude = -122.020049; captureRadius = 10; duration = 75; initialDepth = 1249.516680; finalDepth = 1244.650361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5882920000001 # Actual altitude: 51.5882920000001 # Commanded vehicle depth:1244.650361 # Seafloor depth:-1296.238653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 75.122579 meters # Minimum depth: 1299.516680 meters looking forward 100.000000 meters along route # Maximum depth: 1300.707316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.516680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732786; longitude = -122.020889; captureRadius = 10; duration = 75; initialDepth = 1249.108327; finalDepth = 1249.516680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5882920000001 # Actual altitude: 51.5882920000001 # Commanded vehicle depth:1249.51668 # Seafloor depth:-1299.722656 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 75.122579 meters # Minimum depth: 1299.108327 meters looking forward 100.000000 meters along route # Maximum depth: 1300.707316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.108327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732561; longitude = -122.021692; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1241.726164; finalDepth = 1249.108327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1032620000001 # Actual altitude: 51.1032620000001 # Commanded vehicle depth:1249.108327 # Seafloor depth:-1300.211589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.122579 meters # Minimum depth: 1291.726164 meters looking forward 100.000000 meters along route # Maximum depth: 1300.211589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.726164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732583; longitude = -122.021898; captureRadius = 10; duration = 75; initialDepth = 1237.599283; finalDepth = 1241.726164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9911850000001 # Actual altitude: 56.9911850000001 # Commanded vehicle depth:1241.726164 # Seafloor depth:-1298.717349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 75.122579 meters # Minimum depth: 1287.599283 meters looking forward 100.000000 meters along route # Maximum depth: 1293.028965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.599283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732675; longitude = -122.022738; captureRadius = 10; duration = 75; initialDepth = 1237.389486; finalDepth = 1237.599283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9911850000001 # Actual altitude: 56.9911850000001 # Commanded vehicle depth:1237.599283 # Seafloor depth:-1291.350805 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 75.122579 meters # Minimum depth: 1287.389486 meters looking forward 100.000000 meters along route # Maximum depth: 1295.748227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.389486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732771; longitude = -122.023616; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1237.389486; finalDepth = 1237.389486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.751522 # Actual altitude: 53.751522 # Commanded vehicle depth:1237.389486 # Seafloor depth:-1287.389486 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 215.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 75.122579 meters # Minimum depth: 1287.389486 meters looking forward 100.000000 meters along route # Maximum depth: 1295.748227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.389486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732200; longitude = -122.023821; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1238.746187; finalDepth = 1237.389486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1811519999999 # Actual altitude: 53.1811519999999 # Commanded vehicle depth:1237.389486 # Seafloor depth:-1290.570638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 75.122579 meters # Minimum depth: 1290.570638 meters looking forward 100.000000 meters along route # Maximum depth: 1294.999441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.746187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732170; longitude = -122.023787; captureRadius = 10; duration = 75; initialDepth = 1240.570638; finalDepth = 1238.746187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1811519999999 # Actual altitude: 53.1811519999999 # Commanded vehicle depth:1238.7461874 # Seafloor depth:-1290.874566 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 75.122579 meters # Minimum depth: 1290.570638 meters looking forward 100.000000 meters along route # Maximum depth: 1295.409424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1240.570638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731660; longitude = -122.023205; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1243.429654; finalDepth = 1240.570638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9754230000001 # Actual altitude: 52.9754230000001 # Commanded vehicle depth:1240.570638 # Seafloor depth:-1293.546061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.122579 meters # Minimum depth: 1293.429654 meters looking forward 100.000000 meters along route # Maximum depth: 1310.687948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1243.429654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731594; longitude = -122.023018; captureRadius = 10; duration = 75; initialDepth = 1257.884242; finalDepth = 1243.429654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.983534 # Actual altitude: 52.983534 # Commanded vehicle depth:1243.429654 # Seafloor depth:-1296.413188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 75.122579 meters # Minimum depth: 1307.884242 meters looking forward 100.000000 meters along route # Maximum depth: 1323.148905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1257.884242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731314; longitude = -122.022223; captureRadius = 10; duration = 75; initialDepth = 1262.776532; finalDepth = 1257.884242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.983534 # Actual altitude: 52.983534 # Commanded vehicle depth:1257.884242 # Seafloor depth:-1310.824864 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 75.122579 meters # Minimum depth: 1312.776532 meters looking forward 100.000000 meters along route # Maximum depth: 1326.617670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.776532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731029; longitude = -122.021412; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1272.913592; finalDepth = 1262.776532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.0481749999999 # Actual altitude: 61.0481749999999 # Commanded vehicle depth:1262.776532 # Seafloor depth:-1323.824707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 244.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.122579 meters # Minimum depth: 1325.388759 meters looking forward 100.000000 meters along route # Maximum depth: 1333.169217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.913592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730842; longitude = -122.021114; captureRadius = 10; duration = 75; initialDepth = 1281.913964; finalDepth = 1272.913592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.0481749999999 # Actual altitude: 61.0481749999999 # Commanded vehicle depth:1272.9135923 # Seafloor depth:-1326.964306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 244.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.122579 meters # Minimum depth: 1331.913964 meters looking forward 100.000000 meters along route # Maximum depth: 1336.689267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1281.913964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730421; longitude = -122.020441; captureRadius = 10; duration = 75; initialDepth = 1285.785771; finalDepth = 1281.913964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0507137 # Actual altitude: 54.0507137 # Commanded vehicle depth:1281.913964 # Seafloor depth:-1333.586530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.122579 meters # Minimum depth: 1335.785771 meters looking forward 100.000000 meters along route # Maximum depth: 1342.049330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.785771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730001; longitude = -122.019769; captureRadius = 10; duration = 75; initialDepth = 1289.642922; finalDepth = 1285.785771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.672566 # Actual altitude: 51.672566 # Commanded vehicle depth:1285.785771 # Seafloor depth:-1336.776765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 75.122579 meters # Minimum depth: 1339.642922 meters looking forward 100.000000 meters along route # Maximum depth: 1352.348889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1289.642922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729557; longitude = -122.019060; captureRadius = 10; duration = 75; initialDepth = 1292.049330; finalDepth = 1289.642922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.795595 # Actual altitude: 52.795595 # Commanded vehicle depth:1289.642922 # Seafloor depth:-1342.438517 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 75.122579 meters # Minimum depth: 1342.049330 meters looking forward 100.000000 meters along route # Maximum depth: 1353.689575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1292.049330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729136; longitude = -122.018387; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1297.656244; finalDepth = 1292.049330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4980329999999 # Actual altitude: 60.4980329999999 # Commanded vehicle depth:1292.04933 # Seafloor depth:-1352.547363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 241.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1349.398054 meters looking forward 100.000000 meters along route # Maximum depth: 1354.016463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1297.656244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728979; longitude = -122.018313; captureRadius = 10; duration = 75; initialDepth = 1298.790691; finalDepth = 1297.656244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4980329999999 # Actual altitude: 60.4980329999999 # Commanded vehicle depth:1297.6562442 # Seafloor depth:-1353.876319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 241.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1348.790691 meters looking forward 100.000000 meters along route # Maximum depth: 1350.322777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1298.790691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728340; longitude = -122.018009; captureRadius = 10; duration = 75; initialDepth = 1296.916462; finalDepth = 1298.790691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2200747999998 # Actual altitude: 56.2200747999998 # Commanded vehicle depth:1298.790691 # Seafloor depth:-1349.326712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1346.916462 meters looking forward 100.000000 meters along route # Maximum depth: 1349.974959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.916462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727680; longitude = -122.017696; captureRadius = 10; duration = 75; initialDepth = 1297.023965; finalDepth = 1296.916462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5089300000002 # Actual altitude: 51.5089300000002 # Commanded vehicle depth:1296.916462 # Seafloor depth:-1348.425392 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1347.023965 meters looking forward 100.000000 meters along route # Maximum depth: 1350.323183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1297.023965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727033; longitude = -122.017389; captureRadius = 10; duration = 75; initialDepth = 1299.275870; finalDepth = 1297.023965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5089300000002 # Actual altitude: 51.5089300000002 # Commanded vehicle depth:1297.023965 # Seafloor depth:-1347.494932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1349.275870 meters looking forward 100.000000 meters along route # Maximum depth: 1357.292186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1299.275870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726382; longitude = -122.017080; captureRadius = 10; duration = 75; initialDepth = 1307.034880; finalDepth = 1299.275870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.314533 # Actual altitude: 51.314533 # Commanded vehicle depth:1299.27587 # Seafloor depth:-1350.590403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1357.034880 meters looking forward 100.000000 meters along route # Maximum depth: 1361.765937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.034880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725726; longitude = -122.016769; captureRadius = 10; duration = 75; initialDepth = 1311.369223; finalDepth = 1307.034880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.314533 # Actual altitude: 51.314533 # Commanded vehicle depth:1307.03488 # Seafloor depth:-1357.357911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1361.369223 meters looking forward 100.000000 meters along route # Maximum depth: 1375.687439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1311.369223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725051; longitude = -122.016448; captureRadius = 10; duration = 75; initialDepth = 1322.171597; finalDepth = 1311.369223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5976050000002 # Actual altitude: 50.5976050000002 # Commanded vehicle depth:1311.369223 # Seafloor depth:-1361.966828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1372.171597 meters looking forward 100.000000 meters along route # Maximum depth: 1388.183926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.171597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724375; longitude = -122.016127; captureRadius = 10; duration = 75; initialDepth = 1337.193713; finalDepth = 1322.171597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5372009999999 # Actual altitude: 53.5372009999999 # Commanded vehicle depth:1322.171597 # Seafloor depth:-1375.708798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 75.122579 meters # Minimum depth: 1387.193713 meters looking forward 100.000000 meters along route # Maximum depth: 1401.881533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.193713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723699; longitude = -122.015807; captureRadius = 10; duration = 75; initialDepth = 1344.869077; finalDepth = 1337.193713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.5372009999999 # Actual altitude: 53.5372009999999 # Commanded vehicle depth:1337.193713 # Seafloor depth:-1388.493274 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 75.122579 meters # Minimum depth: 1394.869077 meters looking forward 100.000000 meters along route # Maximum depth: 1411.386693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.869077 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723038; longitude = -122.015493; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1358.415921; finalDepth = 1344.869077; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.658592 # Actual altitude: 57.658592 # Commanded vehicle depth:1344.869077 # Seafloor depth:-1402.527669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.122579 meters # Minimum depth: 1408.415921 meters looking forward 100.000000 meters along route # Maximum depth: 1416.900233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.415921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722647; longitude = -122.015064; captureRadius = 10; duration = 75; initialDepth = 1364.624644; finalDepth = 1358.415921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.658592 # Actual altitude: 57.658592 # Commanded vehicle depth:1358.415921 # Seafloor depth:-1411.608448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.06; MB_Bottom_Detect_Filter_Max_Range = 230.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.122579 meters # Minimum depth: 1414.624644 meters looking forward 100.000000 meters along route # Maximum depth: 1418.963998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.624644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722137; longitude = -122.014503; captureRadius = 10; duration = 75; initialDepth = 1367.121466; finalDepth = 1364.624644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1925269999999 # Actual altitude: 53.1925269999999 # Commanded vehicle depth:1364.624644 # Seafloor depth:-1417.337458 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.122579 meters # Minimum depth: 1417.121466 meters looking forward 100.000000 meters along route # Maximum depth: 1418.943321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.121466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721626; longitude = -122.013941; captureRadius = 10; duration = 75; initialDepth = 1365.576994; finalDepth = 1367.121466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.712814 # Actual altitude: 52.712814 # Commanded vehicle depth:1367.121466 # Seafloor depth:-1418.763818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 75.122579 meters # Minimum depth: 1415.576994 meters looking forward 100.000000 meters along route # Maximum depth: 1417.219005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.576994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721085; longitude = -122.013347; captureRadius = 10; duration = 75; initialDepth = 1365.576994; finalDepth = 1365.576994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6423519999998 # Actual altitude: 51.6423519999998 # Commanded vehicle depth:1365.576994 # Seafloor depth:-1417.166794 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 75.122579 meters # Minimum depth: 1415.576994 meters looking forward 100.000000 meters along route # Maximum depth: 1417.202311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.576994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720574; longitude = -122.012785; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1359.520188; finalDepth = 1365.576994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.625317 # Actual altitude: 51.625317 # Commanded vehicle depth:1365.576994 # Seafloor depth:-1417.202311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.122579 meters # Minimum depth: 1409.520188 meters looking forward 100.000000 meters along route # Maximum depth: 1417.202311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.520188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.720698; longitude = -122.012655; captureRadius = 10; duration = 75; initialDepth = 1353.598148; finalDepth = 1359.520188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.859357 # Actual altitude: 55.859357 # Commanded vehicle depth:1359.520188 # Seafloor depth:-1415.379545 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.122579 meters # Minimum depth: 1403.598148 meters looking forward 100.000000 meters along route # Maximum depth: 1409.988578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.598148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721229; longitude = -122.012095; captureRadius = 10; duration = 75; initialDepth = 1351.931247; finalDepth = 1353.598148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9143059999999 # Actual altitude: 55.9143059999999 # Commanded vehicle depth:1353.598148 # Seafloor depth:-1409.512454 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.122579 meters # Minimum depth: 1401.931247 meters looking forward 100.000000 meters along route # Maximum depth: 1406.692751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.931247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.721761; longitude = -122.011533; captureRadius = 10; duration = 75; initialDepth = 1345.738429; finalDepth = 1351.931247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9143059999999 # Actual altitude: 55.9143059999999 # Commanded vehicle depth:1351.931247 # Seafloor depth:-1403.560180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.122579 meters # Minimum depth: 1395.738429 meters looking forward 100.000000 meters along route # Maximum depth: 1404.037961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1345.738429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722302; longitude = -122.010962; captureRadius = 10; duration = 75; initialDepth = 1333.820507; finalDepth = 1345.738429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.299532 # Actual altitude: 58.299532 # Commanded vehicle depth:1345.738429 # Seafloor depth:-1404.037961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.32; MB_Bottom_Detect_Filter_Max_Range = 233.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.122579 meters # Minimum depth: 1383.820507 meters looking forward 100.000000 meters along route # Maximum depth: 1398.667969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1333.820507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722821; longitude = -122.010414; captureRadius = 10; duration = 75; initialDepth = 1320.872335; finalDepth = 1333.820507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.57241 # Actual altitude: 61.57241 # Commanded vehicle depth:1333.820507 # Seafloor depth:-1395.392917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 246.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 75.122579 meters # Minimum depth: 1370.872335 meters looking forward 100.000000 meters along route # Maximum depth: 1386.608031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1320.872335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723338; longitude = -122.009867; captureRadius = 10; duration = 75; initialDepth = 1318.448520; finalDepth = 1320.872335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1514789999999 # Actual altitude: 62.1514789999999 # Commanded vehicle depth:1320.872335 # Seafloor depth:-1383.023814 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 75.122579 meters # Minimum depth: 1368.448520 meters looking forward 100.000000 meters along route # Maximum depth: 1383.935445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1318.448520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723864; longitude = -122.009312; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1305.147529; finalDepth = 1318.448520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.1514789999999 # Actual altitude: 62.1514789999999 # Commanded vehicle depth:1318.44852 # Seafloor depth:-1369.275391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1355.147529 meters looking forward 100.000000 meters along route # Maximum depth: 1373.792105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.147529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723935; longitude = -122.009406; captureRadius = 10; duration = 75; initialDepth = 1284.601551; finalDepth = 1305.147529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.201898 # Actual altitude: 63.201898 # Commanded vehicle depth:1305.147529 # Seafloor depth:-1368.349427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 252.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1334.601551 meters looking forward 100.000000 meters along route # Maximum depth: 1359.353556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1284.601551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724401; longitude = -122.010022; captureRadius = 10; duration = 75; initialDepth = 1263.733790; finalDepth = 1284.601551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.600909 # Actual altitude: 69.600909 # Commanded vehicle depth:1284.601551 # Seafloor depth:-1354.202460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 278.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1313.733790 meters looking forward 100.000000 meters along route # Maximum depth: 1338.847940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1263.733790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724867; longitude = -122.010638; captureRadius = 10; duration = 75; initialDepth = 1238.540469; finalDepth = 1263.733790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.600909 # Actual altitude: 69.600909 # Commanded vehicle depth:1263.73379 # Seafloor depth:-1333.096018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 278.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1288.540469 meters looking forward 100.000000 meters along route # Maximum depth: 1320.463986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.540469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725333; longitude = -122.011254; captureRadius = 10; duration = 75; initialDepth = 1210.705713; finalDepth = 1238.540469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.285312 # Actual altitude: 74.285312 # Commanded vehicle depth:1238.540469 # Seafloor depth:-1312.825781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.71; MB_Bottom_Detect_Filter_Max_Range = 297.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1260.705713 meters looking forward 100.000000 meters along route # Maximum depth: 1292.787976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.705713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725800; longitude = -122.011870; captureRadius = 10; duration = 75; initialDepth = 1181.388143; finalDepth = 1210.705713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.371513 # Actual altitude: 76.371513 # Commanded vehicle depth:1210.705713 # Seafloor depth:-1287.077226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 305.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 305.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 305.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1231.388143 meters looking forward 100.000000 meters along route # Maximum depth: 1269.423685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.388143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726267; longitude = -122.012489; captureRadius = 10; duration = 75; initialDepth = 1170.850584; finalDepth = 1181.388143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.213694 # Actual altitude: 79.213694 # Commanded vehicle depth:1181.388143 # Seafloor depth:-1260.601837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 316.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1220.850584 meters looking forward 100.000000 meters along route # Maximum depth: 1236.621524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.850584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726732; longitude = -122.013103; captureRadius = 10; duration = 75; initialDepth = 1170.850584; finalDepth = 1170.850584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.213694 # Actual altitude: 79.213694 # Commanded vehicle depth:1170.850584 # Seafloor depth:-1230.820683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.69; MB_Bottom_Detect_Filter_Max_Range = 316.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 316.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1220.850584 meters looking forward 100.000000 meters along route # Maximum depth: 1230.872722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.850584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727198; longitude = -122.013719; captureRadius = 10; duration = 75; initialDepth = 1176.511369; finalDepth = 1170.850584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.9700989999999 # Actual altitude: 59.9700989999999 # Commanded vehicle depth:1170.850584 # Seafloor depth:-1221.359201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.99; MB_Bottom_Detect_Filter_Max_Range = 239.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 75.122579 meters # Minimum depth: 1226.511369 meters looking forward 100.000000 meters along route # Maximum depth: 1248.560042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.511369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727664; longitude = -122.014335; captureRadius = 10; duration = 75; initialDepth = 1187.729709; finalDepth = 1176.511369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.372374 # Actual altitude: 54.372374 # Commanded vehicle depth:1176.511369 # Seafloor depth:-1230.883743 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 217.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 75.122579 meters # Minimum depth: 1237.729709 meters looking forward 100.000000 meters along route # Maximum depth: 1249.197897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1187.729709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728145; longitude = -122.014970; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1197.329223; finalDepth = 1187.729709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4514430000002 # Actual altitude: 61.4514430000002 # Commanded vehicle depth:1187.729709 # Seafloor depth:-1249.181152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 245.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.122579 meters # Minimum depth: 1247.329223 meters looking forward 100.000000 meters along route # Maximum depth: 1273.064610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.329223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728610; longitude = -122.015139; captureRadius = 10; duration = 75; initialDepth = 1217.691951; finalDepth = 1197.329223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4514430000002 # Actual altitude: 61.4514430000002 # Commanded vehicle depth:1197.329223 # Seafloor depth:-1250.426088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 245.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.122579 meters # Minimum depth: 1267.691951 meters looking forward 100.000000 meters along route # Maximum depth: 1288.464823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.691951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729286; longitude = -122.015383; captureRadius = 10; duration = 75; initialDepth = 1229.456307; finalDepth = 1217.691951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.996821 # Actual altitude: 56.996821 # Commanded vehicle depth:1217.691951 # Seafloor depth:-1274.688772 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 75.122579 meters # Minimum depth: 1279.456307 meters looking forward 100.000000 meters along route # Maximum depth: 1291.404528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.456307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729962; longitude = -122.015627; captureRadius = 10; duration = 75; initialDepth = 1228.548584; finalDepth = 1229.456307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.2699950000001 # Actual altitude: 59.2699950000001 # Commanded vehicle depth:1229.456307 # Seafloor depth:-1288.726302 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 237.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 75.122579 meters # Minimum depth: 1278.548584 meters looking forward 100.000000 meters along route # Maximum depth: 1290.404572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.548584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730623; longitude = -122.015866; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1230.926506; finalDepth = 1228.548584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.2699950000001 # Actual altitude: 59.2699950000001 # Commanded vehicle depth:1228.548584 # Seafloor depth:-1278.548584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.71; MB_Bottom_Detect_Filter_Max_Range = 237.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.122579 meters # Minimum depth: 1280.926506 meters looking forward 100.000000 meters along route # Maximum depth: 1286.278894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.926506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730909; longitude = -122.016298; captureRadius = 10; duration = 75; initialDepth = 1235.419434; finalDepth = 1230.926506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1259090000001 # Actual altitude: 51.1259090000001 # Commanded vehicle depth:1230.926506 # Seafloor depth:-1282.052415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.122579 meters # Minimum depth: 1285.419434 meters looking forward 100.000000 meters along route # Maximum depth: 1296.998213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1235.419434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731359; longitude = -122.016978; captureRadius = 10; duration = 75; initialDepth = 1244.054920; finalDepth = 1235.419434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1259090000001 # Actual altitude: 51.1259090000001 # Commanded vehicle depth:1235.419434 # Seafloor depth:-1286.369953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 75.122579 meters # Minimum depth: 1294.054920 meters looking forward 100.000000 meters along route # Maximum depth: 1304.546313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.054920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731798; longitude = -122.017640; captureRadius = 10; duration = 75; initialDepth = 1249.512646; finalDepth = 1244.054920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8482309999999 # Actual altitude: 53.8482309999999 # Commanded vehicle depth:1244.05492 # Seafloor depth:-1297.903151 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 215.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 75.122579 meters # Minimum depth: 1299.512646 meters looking forward 100.000000 meters along route # Maximum depth: 1306.154275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1249.512646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732230; longitude = -122.018294; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1255.174838; finalDepth = 1249.512646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1748540000001 # Actual altitude: 55.1748540000001 # Commanded vehicle depth:1249.512646 # Seafloor depth:-1304.687500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.122579 meters # Minimum depth: 1305.174838 meters looking forward 100.000000 meters along route # Maximum depth: 1311.776015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1255.174838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732080; longitude = -122.018636; captureRadius = 10; duration = 75; initialDepth = 1261.487974; finalDepth = 1255.174838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1748540000001 # Actual altitude: 55.1748540000001 # Commanded vehicle depth:1255.174838 # Seafloor depth:-1306.428290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 75.122579 meters # Minimum depth: 1311.487974 meters looking forward 100.000000 meters along route # Maximum depth: 1321.194839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.487974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731755; longitude = -122.019377; captureRadius = 10; duration = 75; initialDepth = 1264.840621; finalDepth = 1261.487974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2534520000002 # Actual altitude: 51.2534520000002 # Commanded vehicle depth:1261.487974 # Seafloor depth:-1311.837158 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 75.122579 meters # Minimum depth: 1314.840621 meters looking forward 100.000000 meters along route # Maximum depth: 1321.540853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1264.840621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731419; longitude = -122.020143; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1265.571998; finalDepth = 1264.840621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7002319999999 # Actual altitude: 56.7002319999999 # Commanded vehicle depth:1264.840621 # Seafloor depth:-1321.540853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.122579 meters # Minimum depth: 1315.571998 meters looking forward 100.000000 meters along route # Maximum depth: 1319.854858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.571998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731156; longitude = -122.019713; captureRadius = 10; duration = 75; initialDepth = 1265.922456; finalDepth = 1265.571998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.7002319999999 # Actual altitude: 56.7002319999999 # Commanded vehicle depth:1265.571998 # Seafloor depth:-1318.471269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 75.122579 meters # Minimum depth: 1315.922456 meters looking forward 100.000000 meters along route # Maximum depth: 1321.339082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1265.922456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730728; longitude = -122.019017; captureRadius = 10; duration = 75; initialDepth = 1270.171671; finalDepth = 1265.922456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.899271 # Actual altitude: 52.899271 # Commanded vehicle depth:1265.922456 # Seafloor depth:-1317.167665 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 75.122579 meters # Minimum depth: 1320.171671 meters looking forward 100.000000 meters along route # Maximum depth: 1327.518337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1270.171671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730308; longitude = -122.018331; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1275.034618; finalDepth = 1270.171671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2452089999999 # Actual altitude: 51.2452089999999 # Commanded vehicle depth:1270.171671 # Seafloor depth:-1320.594401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1325.034618 meters looking forward 100.000000 meters along route # Maximum depth: 1344.972801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1275.034618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729917; longitude = -122.018101; captureRadius = 10; duration = 75; initialDepth = 1293.132575; finalDepth = 1275.034618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.482078 # Actual altitude: 53.482078 # Commanded vehicle depth:1275.034618 # Seafloor depth:-1328.516696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1343.132575 meters looking forward 100.000000 meters along route # Maximum depth: 1356.581567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.132575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729286; longitude = -122.017729; captureRadius = 10; duration = 75; initialDepth = 1302.792315; finalDepth = 1293.132575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.482078 # Actual altitude: 53.482078 # Commanded vehicle depth:1293.132575 # Seafloor depth:-1345.481955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1352.792315 meters looking forward 100.000000 meters along route # Maximum depth: 1359.942800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1302.792315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728655; longitude = -122.017358; captureRadius = 10; duration = 75; initialDepth = 1307.677473; finalDepth = 1302.792315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8630400000002 # Actual altitude: 53.8630400000002 # Commanded vehicle depth:1302.792315 # Seafloor depth:-1356.655355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1357.677473 meters looking forward 100.000000 meters along route # Maximum depth: 1364.058157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.677473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728025; longitude = -122.016986; captureRadius = 10; duration = 75; initialDepth = 1307.092641; finalDepth = 1307.677473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8630400000002 # Actual altitude: 53.8630400000002 # Commanded vehicle depth:1307.677473 # Seafloor depth:-1361.236342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1357.092641 meters looking forward 100.000000 meters along route # Maximum depth: 1364.138346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.092641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727394; longitude = -122.016614; captureRadius = 10; duration = 75; initialDepth = 1307.068182; finalDepth = 1307.092641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9651840000001 # Actual altitude: 56.9651840000001 # Commanded vehicle depth:1307.092641 # Seafloor depth:-1364.057825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1357.068182 meters looking forward 100.000000 meters along route # Maximum depth: 1377.795745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.068182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726758; longitude = -122.016240; captureRadius = 10; duration = 75; initialDepth = 1324.965601; finalDepth = 1307.068182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9651840000001 # Actual altitude: 56.9651840000001 # Commanded vehicle depth:1307.068182 # Seafloor depth:-1357.109947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1374.965601 meters looking forward 100.000000 meters along route # Maximum depth: 1384.740096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1324.965601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726132; longitude = -122.015871; captureRadius = 10; duration = 75; initialDepth = 1333.293572; finalDepth = 1324.965601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.598939 # Actual altitude: 53.598939 # Commanded vehicle depth:1324.965601 # Seafloor depth:-1378.564540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1383.293572 meters looking forward 100.000000 meters along route # Maximum depth: 1393.013563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1333.293572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725501; longitude = -122.015499; captureRadius = 10; duration = 75; initialDepth = 1341.461886; finalDepth = 1333.293572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.598939 # Actual altitude: 53.598939 # Commanded vehicle depth:1333.293572 # Seafloor depth:-1384.914235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 75.122579 meters # Minimum depth: 1391.461886 meters looking forward 100.000000 meters along route # Maximum depth: 1399.400185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1341.461886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724870; longitude = -122.015128; captureRadius = 10; duration = 75; initialDepth = 1344.483434; finalDepth = 1341.461886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9568449999999 # Actual altitude: 51.9568449999999 # Commanded vehicle depth:1341.461886 # Seafloor depth:-1393.418731 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 75.122579 meters # Minimum depth: 1394.483434 meters looking forward 100.000000 meters along route # Maximum depth: 1404.292498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.483434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724254; longitude = -122.014765; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1351.791190; finalDepth = 1344.483434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0632780000001 # Actual altitude: 55.0632780000001 # Commanded vehicle depth:1344.483434 # Seafloor depth:-1399.546712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.122579 meters # Minimum depth: 1401.791190 meters looking forward 100.000000 meters along route # Maximum depth: 1412.135829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.791190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724059; longitude = -122.014425; captureRadius = 10; duration = 75; initialDepth = 1360.790918; finalDepth = 1351.791190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0632780000001 # Actual altitude: 55.0632780000001 # Commanded vehicle depth:1351.79119 # Seafloor depth:-1404.634399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.122579 meters # Minimum depth: 1410.790918 meters looking forward 100.000000 meters along route # Maximum depth: 1413.368091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.790918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723654; longitude = -122.013719; captureRadius = 10; duration = 75; initialDepth = 1353.773828; finalDepth = 1360.790918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8432090000001 # Actual altitude: 52.8432090000001 # Commanded vehicle depth:1360.790918 # Seafloor depth:-1412.329102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 75.122579 meters # Minimum depth: 1403.773828 meters looking forward 100.000000 meters along route # Maximum depth: 1412.266992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.773828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723235; longitude = -122.012991; captureRadius = 10; duration = 75; initialDepth = 1350.749725; finalDepth = 1353.773828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.81898 # Actual altitude: 56.81898 # Commanded vehicle depth:1353.773828 # Seafloor depth:-1410.592808 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 227.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 75.122579 meters # Minimum depth: 1400.749725 meters looking forward 100.000000 meters along route # Maximum depth: 1405.977173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.749725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.722828; longitude = -122.012281; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1325.024401; finalDepth = 1350.749725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.81898 # Actual altitude: 56.81898 # Commanded vehicle depth:1350.749725 # Seafloor depth:-1403.597168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 227.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.122579 meters # Minimum depth: 1375.024401 meters looking forward 100.000000 meters along route # Maximum depth: 1403.811275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.024401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723293; longitude = -122.011908; captureRadius = 10; duration = 75; initialDepth = 1305.252970; finalDepth = 1325.024401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.0844860000002 # Actual altitude: 75.0844860000002 # Commanded vehicle depth:1325.024401 # Seafloor depth:-1400.108887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 300.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.122579 meters # Minimum depth: 1355.252970 meters looking forward 100.000000 meters along route # Maximum depth: 1378.994499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.252970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.723879; longitude = -122.011438; captureRadius = 10; duration = 75; initialDepth = 1278.689982; finalDepth = 1305.252970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.0844860000002 # Actual altitude: 75.0844860000002 # Commanded vehicle depth:1305.25297 # Seafloor depth:-1373.282874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.03; MB_Bottom_Detect_Filter_Max_Range = 300.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.122579 meters # Minimum depth: 1328.689982 meters looking forward 100.000000 meters along route # Maximum depth: 1359.514006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1278.689982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.724465; longitude = -122.010968; captureRadius = 10; duration = 75; initialDepth = 1264.687529; finalDepth = 1278.689982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1447369999999 # Actual altitude: 76.1447369999999 # Commanded vehicle depth:1278.689982 # Seafloor depth:-1354.834719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 75.122579 meters # Minimum depth: 1314.687529 meters looking forward 100.000000 meters along route # Maximum depth: 1332.984626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1264.687529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725051; longitude = -122.010498; captureRadius = 10; duration = 75; initialDepth = 1260.318783; finalDepth = 1264.687529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.1447369999999 # Actual altitude: 76.1447369999999 # Commanded vehicle depth:1264.687529 # Seafloor depth:-1327.659677 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.46; MB_Bottom_Detect_Filter_Max_Range = 304.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 75.122579 meters # Minimum depth: 1310.318783 meters looking forward 100.000000 meters along route # Maximum depth: 1328.993115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1260.318783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725621; longitude = -122.010041; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1237.948303; finalDepth = 1260.318783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9721480000001 # Actual altitude: 62.9721480000001 # Commanded vehicle depth:1260.318783 # Seafloor depth:-1315.132975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.122579 meters # Minimum depth: 1287.948303 meters looking forward 100.000000 meters along route # Maximum depth: 1315.132975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.948303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.725735; longitude = -122.010190; captureRadius = 10; duration = 75; initialDepth = 1215.274346; finalDepth = 1237.948303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.015836 # Actual altitude: 72.015836 # Commanded vehicle depth:1237.948303 # Seafloor depth:-1309.964139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.81; MB_Bottom_Detect_Filter_Max_Range = 288.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.122579 meters # Minimum depth: 1265.274346 meters looking forward 100.000000 meters along route # Maximum depth: 1292.983746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.274346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726205; longitude = -122.010806; captureRadius = 10; duration = 75; initialDepth = 1182.178383; finalDepth = 1215.274346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.015836 # Actual altitude: 72.015836 # Commanded vehicle depth:1215.274346 # Seafloor depth:-1286.716482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.81; MB_Bottom_Detect_Filter_Max_Range = 288.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.122579 meters # Minimum depth: 1232.178383 meters looking forward 100.000000 meters along route # Maximum depth: 1271.956141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1182.178383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.726674; longitude = -122.011422; captureRadius = 10; duration = 75; initialDepth = 1154.748831; finalDepth = 1182.178383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0249700000002 # Actual altitude: 83.0249700000002 # Commanded vehicle depth:1182.178383 # Seafloor depth:-1265.203353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 332.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.122579 meters # Minimum depth: 1204.748831 meters looking forward 100.000000 meters along route # Maximum depth: 1240.139994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.748831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727144; longitude = -122.012039; captureRadius = 10; duration = 75; initialDepth = 1132.169594; finalDepth = 1154.748831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0249700000002 # Actual altitude: 83.0249700000002 # Commanded vehicle depth:1154.748831 # Seafloor depth:-1230.798482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 332.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 332.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.122579 meters # Minimum depth: 1182.169594 meters looking forward 100.000000 meters along route # Maximum depth: 1209.251256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.169594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.727619; longitude = -122.012663; captureRadius = 10; duration = 75; initialDepth = 1132.169594; finalDepth = 1132.169594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.0496509999998 # Actual altitude: 76.0496509999998 # Commanded vehicle depth:1132.169594 # Seafloor depth:-1204.351626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.42; MB_Bottom_Detect_Filter_Max_Range = 304.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 75.122579 meters # Minimum depth: 1182.169594 meters looking forward 100.000000 meters along route # Maximum depth: 1208.298180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1132.169594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728115; longitude = -122.013313; captureRadius = 10; duration = 75; initialDepth = 1146.182200; finalDepth = 1132.169594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1820319999999 # Actual altitude: 72.1820319999999 # Commanded vehicle depth:1132.169594 # Seafloor depth:-1183.800742 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.87; MB_Bottom_Detect_Filter_Max_Range = 288.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 288.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 75.122579 meters # Minimum depth: 1196.182200 meters looking forward 100.000000 meters along route # Maximum depth: 1214.375986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.182200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.728580; longitude = -122.013924; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1160.767372; finalDepth = 1146.182200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6548769999999 # Actual altitude: 62.6548769999999 # Commanded vehicle depth:1146.1822 # Seafloor depth:-1208.837077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 250.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.122579 meters # Minimum depth: 1210.767372 meters looking forward 100.000000 meters along route # Maximum depth: 1232.126206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.767372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729034; longitude = -122.013775; captureRadius = 10; duration = 75; initialDepth = 1175.909484; finalDepth = 1160.767372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.6548769999999 # Actual altitude: 62.6548769999999 # Commanded vehicle depth:1160.767372 # Seafloor depth:-1214.957135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 250.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.122579 meters # Minimum depth: 1225.909484 meters looking forward 100.000000 meters along route # Maximum depth: 1231.175248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.909484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.729692; longitude = -122.013559; captureRadius = 10; duration = 75; initialDepth = 1179.562114; finalDepth = 1175.909484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1897630000001 # Actual altitude: 54.1897630000001 # Commanded vehicle depth:1175.909484 # Seafloor depth:-1227.361656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.122579 meters # Minimum depth: 1229.562114 meters looking forward 100.000000 meters along route # Maximum depth: 1231.674494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.562114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.730368; longitude = -122.013336; captureRadius = 10; duration = 75; initialDepth = 1180.526543; finalDepth = 1179.562114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.452172 # Actual altitude: 51.452172 # Commanded vehicle depth:1179.562114 # Seafloor depth:-1229.947259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.122579 meters # Minimum depth: 1230.526543 meters looking forward 100.000000 meters along route # Maximum depth: 1241.686126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1180.526543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731044; longitude = -122.013114; captureRadius = 10; duration = 75; initialDepth = 1190.342882; finalDepth = 1180.526543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.52827 # Actual altitude: 51.52827 # Commanded vehicle depth:1180.526543 # Seafloor depth:-1232.054813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 75.122579 meters # Minimum depth: 1240.342882 meters looking forward 100.000000 meters along route # Maximum depth: 1250.147956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.342882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.731720; longitude = -122.012891; captureRadius = 10; duration = 75; initialDepth = 1189.337425; finalDepth = 1190.342882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.931272 # Actual altitude: 51.931272 # Commanded vehicle depth:1190.342882 # Seafloor depth:-1242.274154 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 75.122579 meters # Minimum depth: 1239.337425 meters looking forward 100.000000 meters along route # Maximum depth: 1250.202474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1189.337425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732381; longitude = -122.012673; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 1158.487797; finalDepth = 1189.337425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.865049 # Actual altitude: 60.865049 # Commanded vehicle depth:1189.337425 # Seafloor depth:-1250.202474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 243.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 1208.487797 meters looking forward 100.000000 meters along route # Maximum depth: 1244.141837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1158.487797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732579; longitude = -122.011983; captureRadius = 10; duration = 75; initialDepth = 1126.643070; finalDepth = 1158.487797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4852800000001 # Actual altitude: 80.4852800000001 # Commanded vehicle depth:1158.487797 # Seafloor depth:-1238.973077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 1176.643070 meters looking forward 100.000000 meters along route # Maximum depth: 1212.810801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.643070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.732819; longitude = -122.011142; captureRadius = 10; duration = 75; initialDepth = 1070.051145; finalDepth = 1126.643070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4852800000001 # Actual altitude: 80.4852800000001 # Commanded vehicle depth:1126.64307 # Seafloor depth:-1206.511945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.19; MB_Bottom_Detect_Filter_Max_Range = 321.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 1120.051145 meters looking forward 100.000000 meters along route # Maximum depth: 1183.271041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1070.051145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733060; longitude = -122.010302; captureRadius = 10; duration = 75; initialDepth = 1001.512641; finalDepth = 1070.051145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.176933 # Actual altitude: 100 # Commanded vehicle depth:1070.051145 # Seafloor depth:-1174.228078 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 1051.512641 meters looking forward 100.000000 meters along route # Maximum depth: 1132.179932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.512641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733297; longitude = -122.009476; captureRadius = 10; duration = 75; initialDepth = 952.063688; finalDepth = 1001.512641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.568716 # Actual altitude: 100 # Commanded vehicle depth:1001.512641 # Seafloor depth:-1116.081357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 1002.063688 meters looking forward 100.000000 meters along route # Maximum depth: 1064.677390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.063688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733526; longitude = -122.008677; captureRadius = 10; duration = 75; initialDepth = 918.411846; finalDepth = 952.063688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.568716 # Actual altitude: 100 # Commanded vehicle depth:952.063688 # Seafloor depth:-1050.454265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 968.411846 meters looking forward 100.000000 meters along route # Maximum depth: 1008.019773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.411846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733766; longitude = -122.007837; captureRadius = 10; duration = 75; initialDepth = 884.214982; finalDepth = 918.411846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.3905770000001 # Actual altitude: 98.3905770000001 # Commanded vehicle depth:918.411846 # Seafloor depth:-999.649588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 350.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.36; MB_Bottom_Detect_Filter_Max_Range = 350.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 350.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 934.214982 meters looking forward 100.000000 meters along route # Maximum depth: 973.754062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.214982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734007; longitude = -122.006997; captureRadius = 10; duration = 75; initialDepth = 852.842999; finalDepth = 884.214982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7397480000001 # Actual altitude: 81.7397480000001 # Commanded vehicle depth:884.214982 # Seafloor depth:-965.954730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 326.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 902.842999 meters looking forward 100.000000 meters along route # Maximum depth: 940.388587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.842999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734243; longitude = -122.006174; captureRadius = 10; duration = 75; initialDepth = 821.925226; finalDepth = 852.842999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7397480000001 # Actual altitude: 81.7397480000001 # Commanded vehicle depth:852.842999 # Seafloor depth:-932.740893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.70; MB_Bottom_Detect_Filter_Max_Range = 326.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 326.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 871.925226 meters looking forward 100.000000 meters along route # Maximum depth: 907.418957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.925226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734473; longitude = -122.005372; captureRadius = 10; duration = 75; initialDepth = 795.210889; finalDepth = 821.925226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3834750000001 # Actual altitude: 80.3834750000001 # Commanded vehicle depth:821.925226 # Seafloor depth:-902.308701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 321.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 75.122579 meters # Minimum depth: 845.210889 meters looking forward 100.000000 meters along route # Maximum depth: 878.688887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.210889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734714; longitude = -122.004532; captureRadius = 10; duration = 75; initialDepth = 776.561763; finalDepth = 795.210889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3834750000001 # Actual altitude: 80.3834750000001 # Commanded vehicle depth:795.210889 # Seafloor depth:-869.565547 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.15; MB_Bottom_Detect_Filter_Max_Range = 321.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 321.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 75.122579 meters # Minimum depth: 826.561763 meters looking forward 100.000000 meters along route # Maximum depth: 858.197300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 776.561763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734949; longitude = -122.003710; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 755.459829; finalDepth = 776.561763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.3546580000001 # Actual altitude: 74.3546580000001 # Commanded vehicle depth:776.561763 # Seafloor depth:-843.536540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.74; MB_Bottom_Detect_Filter_Max_Range = 297.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 805.459829 meters looking forward 100.000000 meters along route # Maximum depth: 830.931646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 755.459829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734995; longitude = -122.003132; captureRadius = 10; duration = 75; initialDepth = 734.445524; finalDepth = 755.459829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.88638 # Actual altitude: 69.88638 # Commanded vehicle depth:755.459829 # Seafloor depth:-825.346209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 279.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 784.445524 meters looking forward 100.000000 meters along route # Maximum depth: 810.353025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 734.445524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735062; longitude = -122.002291; captureRadius = 10; duration = 75; initialDepth = 717.327606; finalDepth = 734.445524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.88638 # Actual altitude: 69.88638 # Commanded vehicle depth:734.445524 # Seafloor depth:-803.418363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 279.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 767.327606 meters looking forward 100.000000 meters along route # Maximum depth: 788.296081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.327606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735128; longitude = -122.001451; captureRadius = 10; duration = 75; initialDepth = 700.367182; finalDepth = 717.327606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.972839 # Actual altitude: 68.972839 # Commanded vehicle depth:717.327606 # Seafloor depth:-783.364228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.59; MB_Bottom_Detect_Filter_Max_Range = 275.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 750.367182 meters looking forward 100.000000 meters along route # Maximum depth: 770.917100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.367182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735195; longitude = -122.000611; captureRadius = 10; duration = 75; initialDepth = 684.519738; finalDepth = 700.367182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0366220000001 # Actual altitude: 66.0366220000001 # Commanded vehicle depth:700.367182 # Seafloor depth:-766.103272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 264.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 734.519738 meters looking forward 100.000000 meters along route # Maximum depth: 753.478488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.519738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735262; longitude = -121.999770; captureRadius = 10; duration = 75; initialDepth = 671.299506; finalDepth = 684.519738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.73609 # Actual altitude: 65.73609 # Commanded vehicle depth:684.519738 # Seafloor depth:-749.269216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 262.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 721.299506 meters looking forward 100.000000 meters along route # Maximum depth: 737.495630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.299506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735329; longitude = -121.998930; captureRadius = 10; duration = 75; initialDepth = 654.328560; finalDepth = 671.299506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.7494780000001 # Actual altitude: 64.7494780000001 # Commanded vehicle depth:671.299506 # Seafloor depth:-733.956539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 259.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 704.328560 meters looking forward 100.000000 meters along route # Maximum depth: 723.238929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.328560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735395; longitude = -121.998090; captureRadius = 10; duration = 75; initialDepth = 637.661970; finalDepth = 654.328560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.178871 # Actual altitude: 66.178871 # Commanded vehicle depth:654.32856 # Seafloor depth:-720.507431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 264.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 687.661970 meters looking forward 100.000000 meters along route # Maximum depth: 708.793410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.661970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735462; longitude = -121.997250; captureRadius = 10; duration = 75; initialDepth = 621.218283; finalDepth = 637.661970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.178871 # Actual altitude: 66.178871 # Commanded vehicle depth:637.66197 # Seafloor depth:-703.664393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 264.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 671.218283 meters looking forward 100.000000 meters along route # Maximum depth: 690.769446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.218283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735529; longitude = -121.996409; captureRadius = 10; duration = 75; initialDepth = 604.946823; finalDepth = 621.218283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.002423 # Actual altitude: 66.002423 # Commanded vehicle depth:621.218283 # Seafloor depth:-686.585157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 264.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 654.946823 meters looking forward 100.000000 meters along route # Maximum depth: 674.664564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.946823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735596; longitude = -121.995569; captureRadius = 10; duration = 75; initialDepth = 588.991368; finalDepth = 604.946823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.133555 # Actual altitude: 66.133555 # Commanded vehicle depth:604.946823 # Seafloor depth:-671.080378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 264.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 638.991368 meters looking forward 100.000000 meters along route # Maximum depth: 657.979201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.991368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735662; longitude = -121.994729; captureRadius = 10; duration = 75; initialDepth = 577.719424; finalDepth = 588.991368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.133555 # Actual altitude: 66.133555 # Commanded vehicle depth:588.991368 # Seafloor depth:-654.009616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 264.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 264.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 627.719424 meters looking forward 100.000000 meters along route # Maximum depth: 643.286305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 577.719424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735729; longitude = -121.993888; captureRadius = 10; duration = 75; initialDepth = 563.957581; finalDepth = 577.719424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0182480000001 # Actual altitude: 65.0182480000001 # Commanded vehicle depth:577.719424 # Seafloor depth:-637.777070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 260.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 613.957581 meters looking forward 100.000000 meters along route # Maximum depth: 629.977245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.957581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735796; longitude = -121.993048; captureRadius = 10; duration = 75; initialDepth = 556.231286; finalDepth = 563.957581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.098068 # Actual altitude: 63.098068 # Commanded vehicle depth:563.957581 # Seafloor depth:-627.055649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 606.231286 meters looking forward 100.000000 meters along route # Maximum depth: 616.165604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.231286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735862; longitude = -121.992208; captureRadius = 10; duration = 75; initialDepth = 546.761459; finalDepth = 556.231286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.098068 # Actual altitude: 63.098068 # Commanded vehicle depth:556.231286 # Seafloor depth:-613.272370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 252.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 596.761459 meters looking forward 100.000000 meters along route # Maximum depth: 607.736153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.761459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735929; longitude = -121.991368; captureRadius = 10; duration = 75; initialDepth = 538.474946; finalDepth = 546.761459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9659620000001 # Actual altitude: 58.9659620000001 # Commanded vehicle depth:546.761459 # Seafloor depth:-605.727421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 588.474946 meters looking forward 100.000000 meters along route # Maximum depth: 598.991332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.474946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735996; longitude = -121.990527; captureRadius = 10; duration = 75; initialDepth = 525.912770; finalDepth = 538.474946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9659620000001 # Actual altitude: 58.9659620000001 # Commanded vehicle depth:538.474946 # Seafloor depth:-596.334085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 575.912770 meters looking forward 100.000000 meters along route # Maximum depth: 589.648714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.912770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736063; longitude = -121.989687; captureRadius = 10; duration = 75; initialDepth = 509.155305; finalDepth = 525.912770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.317691 # Actual altitude: 62.317691 # Commanded vehicle depth:525.91277 # Seafloor depth:-588.230461 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 249.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 559.155305 meters looking forward 100.000000 meters along route # Maximum depth: 578.130657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.155305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736129; longitude = -121.988847; captureRadius = 10; duration = 75; initialDepth = 489.116915; finalDepth = 509.155305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.820379 # Actual altitude: 65.820379 # Commanded vehicle depth:509.155305 # Seafloor depth:-574.975684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 263.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 539.116915 meters looking forward 100.000000 meters along route # Maximum depth: 563.955842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.116915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736196; longitude = -121.988007; captureRadius = 10; duration = 75; initialDepth = 462.429709; finalDepth = 489.116915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.495135 # Actual altitude: 68.495135 # Commanded vehicle depth:489.116915 # Seafloor depth:-557.612050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 273.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 75.122579 meters # Minimum depth: 512.429709 meters looking forward 100.000000 meters along route # Maximum depth: 542.956623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.429709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736263; longitude = -121.987166; captureRadius = 10; duration = 75; initialDepth = 443.792559; finalDepth = 462.429709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.675452 # Actual altitude: 74.675452 # Commanded vehicle depth:462.429709 # Seafloor depth:-537.105161 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.87; MB_Bottom_Detect_Filter_Max_Range = 298.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 75.122579 meters # Minimum depth: 493.792559 meters looking forward 100.000000 meters along route # Maximum depth: 524.017397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.792559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736331; longitude = -121.986307; captureRadius = 10; duration = 75; # abortOnTimeout = True; initialDepth = 420.469434; finalDepth = 443.792559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.675452 # Actual altitude: 74.675452 # Commanded vehicle depth:443.792559 # Seafloor depth:-512.128988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.87; MB_Bottom_Detect_Filter_Max_Range = 298.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 470.469434 meters looking forward 100.000000 meters along route # Maximum depth: 500.466561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.469434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736236; longitude = -121.985654; captureRadius = 10; duration = 75; initialDepth = 395.203603; finalDepth = 420.469434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.926155 # Actual altitude: 71.926155 # Commanded vehicle depth:420.469434 # Seafloor depth:-492.395589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.77; MB_Bottom_Detect_Filter_Max_Range = 287.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 445.203603 meters looking forward 100.000000 meters along route # Maximum depth: 475.998561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.203603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736114; longitude = -121.984813; captureRadius = 10; duration = 75; initialDepth = 373.426302; finalDepth = 395.203603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.896502 # Actual altitude: 73.896502 # Commanded vehicle depth:395.203603 # Seafloor depth:-469.100105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.56; MB_Bottom_Detect_Filter_Max_Range = 295.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 423.426302 meters looking forward 100.000000 meters along route # Maximum depth: 451.040001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.426302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735992; longitude = -121.983973; captureRadius = 10; duration = 75; initialDepth = 349.369159; finalDepth = 373.426302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.896502 # Actual altitude: 73.896502 # Commanded vehicle depth:373.426302 # Seafloor depth:-443.464302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.56; MB_Bottom_Detect_Filter_Max_Range = 295.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 399.369159 meters looking forward 100.000000 meters along route # Maximum depth: 428.233645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.369159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735870; longitude = -121.983133; captureRadius = 10; duration = 75; initialDepth = 327.675333; finalDepth = 349.369159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.600455 # Actual altitude: 73.600455 # Commanded vehicle depth:349.369159 # Seafloor depth:-422.969614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 294.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 377.675333 meters looking forward 100.000000 meters along route # Maximum depth: 404.061287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.675333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735748; longitude = -121.982293; captureRadius = 10; duration = 75; initialDepth = 308.342935; finalDepth = 327.675333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.600455 # Actual altitude: 73.600455 # Commanded vehicle depth:327.675333 # Seafloor depth:-398.179266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 294.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 358.342935 meters looking forward 100.000000 meters along route # Maximum depth: 382.377792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.342935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735626; longitude = -121.981452; captureRadius = 10; duration = 75; initialDepth = 291.025012; finalDepth = 308.342935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.503933 # Actual altitude: 70.503933 # Commanded vehicle depth:308.342935 # Seafloor depth:-376.546648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 282.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 341.025012 meters looking forward 100.000000 meters along route # Maximum depth: 362.558013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.025012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735504; longitude = -121.980612; captureRadius = 10; duration = 75; initialDepth = 267.037867; finalDepth = 291.025012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.203713 # Actual altitude: 68.203713 # Commanded vehicle depth:291.025012 # Seafloor depth:-358.280646 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 272.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 317.037867 meters looking forward 100.000000 meters along route # Maximum depth: 344.667363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.037867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735382; longitude = -121.979772; captureRadius = 10; duration = 75; initialDepth = 242.251321; finalDepth = 267.037867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.995511 # Actual altitude: 72.995511 # Commanded vehicle depth:267.037867 # Seafloor depth:-340.033378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.20; MB_Bottom_Detect_Filter_Max_Range = 291.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 291.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 292.251321 meters looking forward 100.000000 meters along route # Maximum depth: 321.539709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.251321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735260; longitude = -121.978932; captureRadius = 10; duration = 75; initialDepth = 211.494559; finalDepth = 242.251321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.176662 # Actual altitude: 73.176662 # Commanded vehicle depth:242.251321 # Seafloor depth:-315.427983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.27; MB_Bottom_Detect_Filter_Max_Range = 292.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 261.494559 meters looking forward 100.000000 meters along route # Maximum depth: 297.529418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.494559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735138; longitude = -121.978091; captureRadius = 10; duration = 75; initialDepth = 180.472496; finalDepth = 211.494559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.53137 # Actual altitude: 79.53137 # Commanded vehicle depth:211.494559 # Seafloor depth:-291.025929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 318.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 230.472496 meters looking forward 100.000000 meters along route # Maximum depth: 270.929826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.472496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735017; longitude = -121.977251; captureRadius = 10; duration = 75; initialDepth = 149.732311; finalDepth = 180.472496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.53137 # Actual altitude: 79.53137 # Commanded vehicle depth:180.472496 # Seafloor depth:-258.535691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 318.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 318.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 199.732311 meters looking forward 100.000000 meters along route # Maximum depth: 235.378100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.732311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734895; longitude = -121.976411; captureRadius = 10; duration = 75; initialDepth = 125.511467; finalDepth = 149.732311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.102704 # Actual altitude: 78.102704 # Commanded vehicle depth:149.732311 # Seafloor depth:-227.835015 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 312.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 175.511467 meters looking forward 100.000000 meters along route # Maximum depth: 203.602053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.511467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734773; longitude = -121.975570; captureRadius = 10; duration = 75; initialDepth = 107.589048; finalDepth = 125.511467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.102704 # Actual altitude: 78.102704 # Commanded vehicle depth:125.511467 # Seafloor depth:-195.901038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 312.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.24; MB_Bottom_Detect_Filter_Max_Range = 312.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 312.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 157.589048 meters looking forward 100.000000 meters along route # Maximum depth: 178.977441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.589048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734651; longitude = -121.974730; captureRadius = 10; duration = 75; initialDepth = 93.988616; finalDepth = 107.589048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.389571 # Actual altitude: 70.389571 # Commanded vehicle depth:107.589048 # Seafloor depth:-174.065604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.16; MB_Bottom_Detect_Filter_Max_Range = 281.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 143.988616 meters looking forward 100.000000 meters along route # Maximum depth: 160.813925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.988616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734529; longitude = -121.973890; captureRadius = 10; duration = 75; initialDepth = 85.029042; finalDepth = 93.988616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.476556 # Actual altitude: 66.476556 # Commanded vehicle depth:93.988616 # Seafloor depth:-157.134631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 265.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 135.029042 meters looking forward 100.000000 meters along route # Maximum depth: 146.403239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.029042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734407; longitude = -121.973050; captureRadius = 10; duration = 75; initialDepth = 79.668454; finalDepth = 85.029042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.146015 # Actual altitude: 63.146015 # Commanded vehicle depth:85.029042 # Seafloor depth:-143.142361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 252.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 129.668454 meters looking forward 100.000000 meters along route # Maximum depth: 136.543221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.668454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734285; longitude = -121.972209; captureRadius = 10; duration = 75; initialDepth = 75.255945; finalDepth = 79.668454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.113319 # Actual altitude: 58.113319 # Commanded vehicle depth:79.668454 # Seafloor depth:-134.821578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 232.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 125.255945 meters looking forward 100.000000 meters along route # Maximum depth: 130.127848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.255945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734163; longitude = -121.971369; captureRadius = 10; duration = 75; initialDepth = 73.368357; finalDepth = 75.255945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.153124 # Actual altitude: 55.153124 # Commanded vehicle depth:75.255945 # Seafloor depth:-129.034668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 123.368357 meters looking forward 100.000000 meters along route # Maximum depth: 126.132684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.368357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734041; longitude = -121.970529; captureRadius = 10; duration = 75; initialDepth = 71.374714; finalDepth = 73.368357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.778723 # Actual altitude: 53.778723 # Commanded vehicle depth:73.368357 # Seafloor depth:-125.088100 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 121.374714 meters looking forward 100.000000 meters along route # Maximum depth: 123.708660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.374714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733919; longitude = -121.969688; captureRadius = 10; duration = 75; initialDepth = 69.022373; finalDepth = 71.374714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.258775 # Actual altitude: 52.258775 # Commanded vehicle depth:71.374714 # Seafloor depth:-123.633489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 75.122579 meters # Minimum depth: 119.022373 meters looking forward 100.000000 meters along route # Maximum depth: 121.906810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.022373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733792; longitude = -121.968817; captureRadius = 10; duration = 75; initialDepth = 68.976613; finalDepth = 69.022373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.505335 # Actual altitude: 52.505335 # Commanded vehicle depth:69.022373 # Seafloor depth:-121.527708 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 52.505335 # Sonar parameter altitude: 52.505335 # Commanded vehicle depth:68.976613 # Seafloor depth:-118.976613 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; MB_Power = 220; MB_Range = 210.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 75.122579 meters # Minimum depth: 118.976613 meters looking forward 100.000000 meters along route # Maximum depth: 121.906810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1392.121466 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.976613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.733672; longitude = -121.967989; captureRadius = 10; duration = 600; initialDepth = 68.976613; finalDepth = 68.976613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 10.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 10.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################