# 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_4v4.rte # Mission File: UpperCanyonLong_4v4.cfg # Distance: 31650.237367 (m) # Estimated Time: 23854 (s) 6.626 (hr) # Abort Time: 31011 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1165 (s) # Way Points: 61 # Route Points: 443 # 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: 1263.562225 (m) # Abort Vehicle Depth: 1288.562225 (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 -121.966682 36.735940 -118.471151 0.000000 3 # 1 -121.986345 36.738464 -541.148844 1777.857136 1 # 2 -122.004233 36.737277 -867.159180 3380.536217 1 # 3 -122.015362 36.734228 -1288.893880 4430.261861 3 # 4 -122.017566 36.737638 -1279.691325 4856.630580 1 # 5 -122.019806 36.741288 -1260.773132 5308.299473 1 # 6 -122.025688 36.746470 -1229.655426 6086.940899 1 # 7 -122.030338 36.751787 -1205.005219 6808.239747 1 # 8 -122.033176 36.755407 -1199.149139 7283.074069 4 # 9 -122.034595 36.754941 -1185.079437 7419.889642 3 # 10 -122.036780 36.758096 -1171.387451 7820.579509 1 # 11 -122.039413 36.761160 -1161.988281 8233.838170 1 # 12 -122.040795 36.765816 -1139.174438 8764.894941 1 # 13 -122.040066 36.771629 -1126.406616 9413.057098 1 # 14 -122.038012 36.776931 -1091.624237 10029.158922 1 # 15 -122.027742 36.783705 -1050.015594 11214.364150 1 # 16 -122.024773 36.784426 -1050.264099 11491.115022 1 # 17 -122.021711 36.784502 -1036.995453 11764.482437 1 # 18 -122.017958 36.783871 -1022.878830 12106.620573 1 # 19 -122.014485 36.781888 -1012.132172 12486.682881 1 # 20 -122.010937 36.780371 -1003.766327 12845.251671 1 # 21 -122.008192 36.779289 -988.203186 13118.046175 3 # 22 -122.006418 36.780716 -970.766388 13341.932882 4 # 23 -122.007464 36.781317 -968.596848 13456.644176 3 # 24 -122.009667 36.779950 -996.474884 13704.935784 3 # 25 -122.005783 36.777036 -949.776276 14178.910485 1 # 26 -122.000760 36.775985 -950.280746 14642.101195 1 # 27 -121.994822 36.775985 -936.423813 15172.039219 4 # 28 -121.994803 36.773972 -956.393173 15395.367959 3 # 29 -122.003822 36.774468 -981.160645 16202.167339 1 # 30 -122.007632 36.775730 -991.169937 16569.890697 1 # 31 -122.010283 36.777652 -1005.222229 16888.384850 1 # 32 -122.013812 36.778598 -1007.408844 17220.347813 1 # 33 -122.019638 36.781933 -1016.972809 17858.467082 1 # 34 -122.023560 36.782924 -1025.140366 18225.317451 1 # 35 -122.026641 36.781527 -1038.222351 18540.931108 1 # 36 -122.030506 36.779049 -1069.029694 18981.995944 1 # 37 -122.035884 36.774858 -1097.625275 19650.223823 1 # 38 -122.037154 36.771854 -1093.211517 20002.232242 1 # 39 -122.038461 36.765125 -1141.492493 20757.800329 1 # 40 -122.034633 36.758967 -1174.260010 21521.647210 1 # 41 -122.031514 36.755527 -1194.379150 21994.045249 4 # 42 -122.032803 36.754941 -1200.382263 22126.207306 3 # 43 -122.038012 36.761655 -1162.338074 23004.273279 1 # 44 -122.039786 36.765726 -1147.282166 23482.859537 1 # 45 -122.038330 36.772710 -1115.595856 24268.479763 1 # 46 -122.037060 36.775850 -1100.831757 24634.804122 1 # 47 -122.026062 36.783615 -1054.940247 25940.697835 1 # 48 -122.023149 36.783886 -1045.886871 26202.374367 1 # 49 -122.019788 36.783435 -1030.678467 26506.440951 1 # 50 -122.012393 36.779560 -1012.195328 27294.031712 1 # 51 -122.006623 36.776225 -976.348068 27928.099604 1 # 52 -122.002105 36.775174 -973.260559 28347.830469 1 # 53 -121.994019 36.774918 -959.818848 29070.034599 4 # 54 -121.996615 36.777292 -924.541321 29420.805756 1 # 55 -122.000573 36.777217 -915.118027 29774.130377 1 # 56 -122.005335 36.777712 -940.700287 30202.640809 1 # 57 -122.007874 36.779995 -982.926788 30542.477856 1 # 58 -122.012841 36.777577 -1000.264481 31060.591793 1 # 59 -122.015493 36.778013 -971.085266 31302.155956 1 # 60 -122.018686 36.779815 -974.735321 31650.237367 1 # # A total of 443 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 21600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1263.562225; abortDepth = 1288.562225; 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 = 1165; 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 60 # Segment length 79.354907 meters # Minimum depth: 971.305131 meters looking forward 100.000000 meters along route # Maximum depth: 974.735321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.305131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779815; longitude = -122.018686; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 917.864973; finalDepth = 921.305131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.43019 # Actual altitude: 53.43019 # Commanded vehicle depth:921.305131 # Seafloor depth:-974.735321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 79.354907 meters # Minimum depth: 967.864973 meters looking forward 100.000000 meters along route # Maximum depth: 973.256706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.864973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779604; longitude = -122.018313; captureRadius = 10; duration = 79; initialDepth = 914.670799; finalDepth = 917.864973; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.43019 # Actual altitude: 53.43019 # Commanded vehicle depth:917.864973 # Seafloor depth:-971.080803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 79.354907 meters # Minimum depth: 964.670799 meters looking forward 100.000000 meters along route # Maximum depth: 968.376293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.670799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779214; longitude = -122.017622; captureRadius = 10; duration = 79; initialDepth = 914.216628; finalDepth = 914.670799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.21583 # Actual altitude: 53.21583 # Commanded vehicle depth:914.670799 # Seafloor depth:-967.779283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 79.354907 meters # Minimum depth: 964.216628 meters looking forward 100.000000 meters along route # Maximum depth: 965.693245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.216628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778809; longitude = -122.016903; captureRadius = 10; duration = 79; initialDepth = 914.772621; finalDepth = 914.216628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.108484 # Actual altitude: 53.108484 # Commanded vehicle depth:914.216628 # Seafloor depth:-964.647095 # 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 60 # Segment length 79.354907 meters # Minimum depth: 964.772621 meters looking forward 100.000000 meters along route # Maximum depth: 970.059075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.772621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778403; longitude = -122.016184; captureRadius = 10; duration = 79; initialDepth = 914.772621; finalDepth = 914.772621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9229220000001 # Actual altitude: 50.9229220000001 # Commanded vehicle depth:914.772621 # Seafloor depth:-965.695543 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.69; 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 = 203.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 79.354907 meters # Minimum depth: 964.772621 meters looking forward 100.000000 meters along route # Maximum depth: 973.588517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.772621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778013; longitude = -122.015493; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 917.323936; finalDepth = 914.772621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3126450000001 # Actual altitude: 56.3126450000001 # Commanded vehicle depth:914.772621 # Seafloor depth:-971.085266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 79.354907 meters # Minimum depth: 968.775081 meters looking forward 100.000000 meters along route # Maximum depth: 989.697280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.323936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777998; longitude = -122.015400; captureRadius = 10; duration = 79; initialDepth = 937.157138; finalDepth = 917.323936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.3126450000001 # Actual altitude: 56.3126450000001 # Commanded vehicle depth:917.3239362 # Seafloor depth:-973.588576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 79.354907 meters # Minimum depth: 987.157138 meters looking forward 100.000000 meters along route # Maximum depth: 998.665585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.157138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777860; longitude = -122.014559; captureRadius = 10; duration = 79; initialDepth = 947.989644; finalDepth = 937.157138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2646398000001 # Actual altitude: 56.2646398000001 # Commanded vehicle depth:937.157138 # Seafloor depth:-989.898565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 79.354907 meters # Minimum depth: 997.989644 meters looking forward 100.000000 meters along route # Maximum depth: 1000.332131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.989644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777721; longitude = -122.013719; captureRadius = 10; duration = 79; initialDepth = 949.726483; finalDepth = 947.989644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7414269999999 # Actual altitude: 52.7414269999999 # Commanded vehicle depth:947.989644 # Seafloor depth:-998.839640 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.97; 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 = 210.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 79.354907 meters # Minimum depth: 999.726483 meters looking forward 100.000000 meters along route # Maximum depth: 1004.787924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.726483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777577; longitude = -122.012841; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 952.772245; finalDepth = 949.726483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.849996 # Actual altitude: 50.849996 # Commanded vehicle depth:949.726483 # Seafloor depth:-1000.264481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.40; 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 = 203.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.354907 meters # Minimum depth: 1002.772245 meters looking forward 100.000000 meters along route # Maximum depth: 1007.961489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.772245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777862; longitude = -122.012255; captureRadius = 10; duration = 79; initialDepth = 957.379918; finalDepth = 952.772245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.096505 # Actual altitude: 52.096505 # Commanded vehicle depth:952.772245 # Seafloor depth:-1004.868750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.354907 meters # Minimum depth: 1007.379918 meters looking forward 100.000000 meters along route # Maximum depth: 1010.155161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.379918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778213; longitude = -122.011534; captureRadius = 10; duration = 79; initialDepth = 957.479856; finalDepth = 957.379918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.096505 # Actual altitude: 52.096505 # Commanded vehicle depth:957.379918 # Seafloor depth:-1007.527264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.354907 meters # Minimum depth: 1007.479856 meters looking forward 100.000000 meters along route # Maximum depth: 1010.364444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.479856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778568; longitude = -122.010806; captureRadius = 10; duration = 79; initialDepth = 951.336277; finalDepth = 957.479856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.836474 # Actual altitude: 52.836474 # Commanded vehicle depth:957.479856 # Seafloor depth:-1010.316330 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.354907 meters # Minimum depth: 1001.336277 meters looking forward 100.000000 meters along route # Maximum depth: 1008.475547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.336277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778922; longitude = -122.010078; captureRadius = 10; duration = 79; initialDepth = 941.560578; finalDepth = 951.336277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.758238 # Actual altitude: 55.758238 # Commanded vehicle depth:951.336277 # Seafloor depth:-1007.094515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.354907 meters # Minimum depth: 991.560578 meters looking forward 100.000000 meters along route # Maximum depth: 1003.785972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.560578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779277; longitude = -122.009350; captureRadius = 10; duration = 79; initialDepth = 933.260227; finalDepth = 941.560578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4330200000001 # Actual altitude: 59.4330200000001 # Commanded vehicle depth:941.560578 # Seafloor depth:-1000.993598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.77; MB_Bottom_Detect_Filter_Max_Range = 237.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 79.354907 meters # Minimum depth: 983.260227 meters looking forward 100.000000 meters along route # Maximum depth: 994.738923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.260227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779631; longitude = -122.008621; captureRadius = 10; duration = 79; initialDepth = 930.898765; finalDepth = 933.260227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4330200000001 # Actual altitude: 59.4330200000001 # Commanded vehicle depth:933.260227 # Seafloor depth:-991.185621 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.77; MB_Bottom_Detect_Filter_Max_Range = 237.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 79.354907 meters # Minimum depth: 980.898765 meters looking forward 100.000000 meters along route # Maximum depth: 990.231959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.898765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779995; longitude = -122.007874; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 916.715025; finalDepth = 930.898765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.925394 # Actual altitude: 57.925394 # Commanded vehicle depth:930.898765 # Seafloor depth:-982.926788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.17; MB_Bottom_Detect_Filter_Max_Range = 231.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 79.354907 meters # Minimum depth: 966.715025 meters looking forward 100.000000 meters along route # Maximum depth: 982.168227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.715025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779800; longitude = -122.007657; captureRadius = 10; duration = 79; initialDepth = 902.189433; finalDepth = 916.715025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.030448 # Actual altitude: 64.030448 # Commanded vehicle depth:916.715025 # Seafloor depth:-980.745473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 79.354907 meters # Minimum depth: 952.189433 meters looking forward 100.000000 meters along route # Maximum depth: 970.597950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.189433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779259; longitude = -122.007056; captureRadius = 10; duration = 79; initialDepth = 897.509121; finalDepth = 902.189433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.030448 # Actual altitude: 64.030448 # Commanded vehicle depth:902.189433 # Seafloor depth:-964.724410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 79.354907 meters # Minimum depth: 947.509121 meters looking forward 100.000000 meters along route # Maximum depth: 953.063450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.509121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778753; longitude = -122.006493; captureRadius = 10; duration = 79; initialDepth = 891.201192; finalDepth = 897.509121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.534977 # Actual altitude: 62.534977 # Commanded vehicle depth:897.509121 # Seafloor depth:-952.042812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 250.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 79.354907 meters # Minimum depth: 941.201192 meters looking forward 100.000000 meters along route # Maximum depth: 948.460576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.201192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778223; longitude = -122.005903; captureRadius = 10; duration = 79; initialDepth = 883.094320; finalDepth = 891.201192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.109409 # Actual altitude: 56.109409 # Commanded vehicle depth:891.201192 # Seafloor depth:-947.310601 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 79.354907 meters # Minimum depth: 933.094320 meters looking forward 100.000000 meters along route # Maximum depth: 945.990236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.094320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777712; longitude = -122.005335; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 869.085257; finalDepth = 883.094320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.605967 # Actual altitude: 57.605967 # Commanded vehicle depth:883.09432 # Seafloor depth:-940.700287 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 79.354907 meters # Minimum depth: 919.085257 meters looking forward 100.000000 meters along route # Maximum depth: 935.017287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.085257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777658; longitude = -122.004812; captureRadius = 10; duration = 79; initialDepth = 855.888796; finalDepth = 869.085257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2844670000001 # Actual altitude: 63.2844670000001 # Commanded vehicle depth:869.085257 # Seafloor depth:-932.369724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 79.354907 meters # Minimum depth: 905.888796 meters looking forward 100.000000 meters along route # Maximum depth: 922.006253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 855.888796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777570; longitude = -122.003972; captureRadius = 10; duration = 79; initialDepth = 848.332820; finalDepth = 855.888796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2844670000001 # Actual altitude: 63.2844670000001 # Commanded vehicle depth:855.888796 # Seafloor depth:-918.109632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 253.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 253.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 79.354907 meters # Minimum depth: 898.332820 meters looking forward 100.000000 meters along route # Maximum depth: 908.301932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.332820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777483; longitude = -122.003132; captureRadius = 10; duration = 79; initialDepth = 848.302371; finalDepth = 848.332820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2208360000001 # Actual altitude: 62.2208360000001 # Commanded vehicle depth:848.33282 # Seafloor depth:-905.141847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 248.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 79.354907 meters # Minimum depth: 898.302371 meters looking forward 100.000000 meters along route # Maximum depth: 901.700095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.302371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777396; longitude = -122.002291; captureRadius = 10; duration = 79; initialDepth = 851.087303; finalDepth = 848.302371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.809027 # Actual altitude: 56.809027 # Commanded vehicle depth:848.302371 # Seafloor depth:-898.302371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 79.354907 meters # Minimum depth: 901.087303 meters looking forward 100.000000 meters along route # Maximum depth: 913.775970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 851.087303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777308; longitude = -122.001451; captureRadius = 10; duration = 79; initialDepth = 856.033470; finalDepth = 851.087303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.016122 # Actual altitude: 51.016122 # Commanded vehicle depth:851.087303 # Seafloor depth:-902.103425 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.06; 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 = 204.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 79.354907 meters # Minimum depth: 906.033470 meters looking forward 100.000000 meters along route # Maximum depth: 920.681082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.033470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777217; longitude = -122.000573; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 868.977221; finalDepth = 856.033470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.084557 # Actual altitude: 59.084557 # Commanded vehicle depth:856.03347 # Seafloor depth:-915.118027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 236.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 79.354907 meters # Minimum depth: 918.977221 meters looking forward 100.000000 meters along route # Maximum depth: 931.312796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.977221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777228; longitude = -121.999995; captureRadius = 10; duration = 79; initialDepth = 880.801664; finalDepth = 868.977221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.084557 # Actual altitude: 59.084557 # Commanded vehicle depth:868.977221 # Seafloor depth:-921.471501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.63; MB_Bottom_Detect_Filter_Max_Range = 236.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 79.354907 meters # Minimum depth: 930.801664 meters looking forward 100.000000 meters along route # Maximum depth: 936.157925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.801664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777244; longitude = -121.999154; captureRadius = 10; duration = 79; initialDepth = 882.756956; finalDepth = 880.801664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.49428 # Actual altitude: 52.49428 # Commanded vehicle depth:880.801664 # Seafloor depth:-931.380390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.98; 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 = 209.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 79.354907 meters # Minimum depth: 932.756956 meters looking forward 100.000000 meters along route # Maximum depth: 936.274130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.756956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777260; longitude = -121.998314; captureRadius = 10; duration = 79; initialDepth = 875.322321; finalDepth = 882.756956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4860440000001 # Actual altitude: 53.4860440000001 # Commanded vehicle depth:882.756956 # Seafloor depth:-936.243000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.94; 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 = 213.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 79.354907 meters # Minimum depth: 925.322321 meters looking forward 100.000000 meters along route # Maximum depth: 934.323308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.322321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777276; longitude = -121.997474; captureRadius = 10; duration = 79; initialDepth = 874.541321; finalDepth = 875.322321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.787536 # Actual altitude: 56.787536 # Commanded vehicle depth:875.322321 # Seafloor depth:-932.109857 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 79.354907 meters # Minimum depth: 924.541321 meters looking forward 100.000000 meters along route # Maximum depth: 931.806622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.541321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777292; longitude = -121.996615; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 878.383876; finalDepth = 874.541321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.787536 # Actual altitude: 56.787536 # Commanded vehicle depth:874.541321 # Seafloor depth:-924.541321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 79.354907 meters # Minimum depth: 928.383876 meters looking forward 100.000000 meters along route # Maximum depth: 937.686658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.383876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777001; longitude = -121.996297; captureRadius = 10; duration = 79; initialDepth = 885.480986; finalDepth = 878.383876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4986700000001 # Actual altitude: 53.4986700000001 # Commanded vehicle depth:878.383876 # Seafloor depth:-931.882546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 79.354907 meters # Minimum depth: 935.480986 meters looking forward 100.000000 meters along route # Maximum depth: 943.934518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.480986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776489; longitude = -121.995737; captureRadius = 10; duration = 79; initialDepth = 892.232716; finalDepth = 885.480986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4986700000001 # Actual altitude: 53.4986700000001 # Commanded vehicle depth:885.480986 # Seafloor depth:-935.658025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 79.354907 meters # Minimum depth: 942.232716 meters looking forward 100.000000 meters along route # Maximum depth: 949.433662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.232716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775970; longitude = -121.995169; captureRadius = 10; duration = 79; initialDepth = 896.365016; finalDepth = 892.232716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.813575 # Actual altitude: 51.813575 # Commanded vehicle depth:892.232716 # Seafloor depth:-944.046291 # 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 = 20.73; 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 54 # Segment length 79.354907 meters # Minimum depth: 946.365016 meters looking forward 100.000000 meters along route # Maximum depth: 959.903845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.365016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775429; longitude = -121.994578; captureRadius = 10; duration = 79; initialDepth = 902.421057; finalDepth = 896.365016; 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: 53.982383 # Actual altitude: 53.982383 # Commanded vehicle depth:896.365016 # Seafloor depth:-950.347399 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 79.354907 meters # Minimum depth: 952.421057 meters looking forward 100.000000 meters along route # Maximum depth: 960.145024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.421057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774918; longitude = -121.994019; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 909.337101; finalDepth = 902.421057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.397791 # Actual altitude: 57.397791 # Commanded vehicle depth:902.421057 # Seafloor depth:-959.818848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 959.337101 meters looking forward 100.000000 meters along route # Maximum depth: 961.820561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 909.337101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774933; longitude = -121.994505; captureRadius = 10; duration = 79; initialDepth = 911.122692; finalDepth = 909.337101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.397791 # Actual altitude: 57.397791 # Commanded vehicle depth:909.337101 # Seafloor depth:-959.399092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.96; MB_Bottom_Detect_Filter_Max_Range = 229.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 961.122692 meters looking forward 100.000000 meters along route # Maximum depth: 963.240968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.122692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774960; longitude = -121.995345; captureRadius = 10; duration = 79; initialDepth = 912.654868; finalDepth = 911.122692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0134519999999 # Actual altitude: 51.0134519999999 # Commanded vehicle depth:911.122692 # Seafloor depth:-962.136144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.05; 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 = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 962.654868 meters looking forward 100.000000 meters along route # Maximum depth: 965.330583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.654868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774987; longitude = -121.996185; captureRadius = 10; duration = 79; initialDepth = 915.073344; finalDepth = 912.654868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0134519999999 # Actual altitude: 51.0134519999999 # Commanded vehicle depth:912.654868 # Seafloor depth:-963.311526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.05; 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 = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 965.073344 meters looking forward 100.000000 meters along route # Maximum depth: 966.546313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.073344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775013; longitude = -121.997026; captureRadius = 10; duration = 79; initialDepth = 916.347411; finalDepth = 915.073344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.656658 # Actual altitude: 50.656658 # Commanded vehicle depth:915.073344 # Seafloor depth:-965.411589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.63; 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 = 202.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 966.347411 meters looking forward 100.000000 meters along route # Maximum depth: 967.382287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.347411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775040; longitude = -121.997866; captureRadius = 10; duration = 79; initialDepth = 917.354851; finalDepth = 916.347411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.341583 # Actual altitude: 50.341583 # Commanded vehicle depth:916.347411 # Seafloor depth:-966.688994 # 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 53 # Segment length 79.354907 meters # Minimum depth: 967.354851 meters looking forward 100.000000 meters along route # Maximum depth: 968.192016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.354851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775066; longitude = -121.998706; captureRadius = 10; duration = 79; initialDepth = 917.304538; finalDepth = 917.354851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.341583 # Actual altitude: 50.341583 # Commanded vehicle depth:917.354851 # Seafloor depth:-967.369068 # 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 53 # Segment length 79.354907 meters # Minimum depth: 967.304538 meters looking forward 100.000000 meters along route # Maximum depth: 969.013709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.304538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775093; longitude = -121.999546; captureRadius = 10; duration = 79; initialDepth = 917.304538; finalDepth = 917.304538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.022632 # Actual altitude: 51.022632 # Commanded vehicle depth:917.304538 # Seafloor depth:-968.327170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.09; 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 = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 967.304538 meters looking forward 100.000000 meters along route # Maximum depth: 969.410492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.304538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775120; longitude = -122.000387; captureRadius = 10; duration = 79; initialDepth = 919.235945; finalDepth = 917.304538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.022632 # Actual altitude: 51.022632 # Commanded vehicle depth:917.304538 # Seafloor depth:-967.329200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.09; 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 = 204.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 79.354907 meters # Minimum depth: 969.235945 meters looking forward 100.000000 meters along route # Maximum depth: 973.324617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.235945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775146; longitude = -122.001227; captureRadius = 10; duration = 79; initialDepth = 920.197016; finalDepth = 919.235945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.328177 # Actual altitude: 50.328177 # Commanded vehicle depth:919.235945 # Seafloor depth:-969.564122 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 79.354907 meters # Minimum depth: 970.197016 meters looking forward 100.000000 meters along route # Maximum depth: 973.588490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.197016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775174; longitude = -122.002105; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 922.034097; finalDepth = 920.197016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.063543 # Actual altitude: 53.063543 # Commanded vehicle depth:920.197016 # Seafloor depth:-973.260559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 79.354907 meters # Minimum depth: 972.034097 meters looking forward 100.000000 meters along route # Maximum depth: 973.862118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.034097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775249; longitude = -122.002427; captureRadius = 10; duration = 79; initialDepth = 922.162922; finalDepth = 922.034097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.063543 # Actual altitude: 53.063543 # Commanded vehicle depth:922.034097 # Seafloor depth:-973.661470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 79.354907 meters # Minimum depth: 972.162922 meters looking forward 100.000000 meters along route # Maximum depth: 973.548051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.162922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775439; longitude = -122.003244; captureRadius = 10; duration = 79; initialDepth = 922.824372; finalDepth = 922.162922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.627373 # Actual altitude: 51.627373 # Commanded vehicle depth:922.162922 # Seafloor depth:-972.944689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.51; 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 = 206.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 79.354907 meters # Minimum depth: 972.824372 meters looking forward 100.000000 meters along route # Maximum depth: 974.232473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.824372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775634; longitude = -122.004084; captureRadius = 10; duration = 79; initialDepth = 923.046495; finalDepth = 922.824372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7817670000001 # Actual altitude: 50.7817670000001 # Commanded vehicle depth:922.824372 # Seafloor depth:-972.842483 # 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 52 # Segment length 79.354907 meters # Minimum depth: 973.046495 meters looking forward 100.000000 meters along route # Maximum depth: 974.371654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.046495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775835; longitude = -122.004945; captureRadius = 10; duration = 79; initialDepth = 923.816640; finalDepth = 923.046495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.038597 # Actual altitude: 50.038597 # Commanded vehicle depth:923.046495 # Seafloor depth:-973.085092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 79.354907 meters # Minimum depth: 973.816640 meters looking forward 100.000000 meters along route # Maximum depth: 976.350278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.816640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776025; longitude = -122.005764; captureRadius = 10; duration = 79; initialDepth = 924.629454; finalDepth = 923.816640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.812814 # Actual altitude: 50.812814 # Commanded vehicle depth:923.81664 # Seafloor depth:-974.629454 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 79.354907 meters # Minimum depth: 974.629454 meters looking forward 100.000000 meters along route # Maximum depth: 976.488936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.629454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776225; longitude = -122.006623; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 924.733276; finalDepth = 924.629454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.718614 # Actual altitude: 51.718614 # Commanded vehicle depth:924.629454 # Seafloor depth:-976.348068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.87; 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 = 206.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 974.733276 meters looking forward 100.000000 meters along route # Maximum depth: 981.990435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.733276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776330; longitude = -122.006805; captureRadius = 10; duration = 79; initialDepth = 929.334560; finalDepth = 924.733276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.723838 # Actual altitude: 51.723838 # Commanded vehicle depth:924.733276 # Seafloor depth:-976.457114 # 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 51 # Segment length 79.354907 meters # Minimum depth: 979.334560 meters looking forward 100.000000 meters along route # Maximum depth: 990.845047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.334560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776736; longitude = -122.007507; captureRadius = 10; duration = 79; initialDepth = 939.188461; finalDepth = 929.334560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.755621 # Actual altitude: 52.755621 # Commanded vehicle depth:929.33456 # Seafloor depth:-982.090181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.02; 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 = 211.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 989.188461 meters looking forward 100.000000 meters along route # Maximum depth: 1000.410513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.188461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777141; longitude = -122.008209; captureRadius = 10; duration = 79; initialDepth = 948.532624; finalDepth = 939.188461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.755621 # Actual altitude: 52.755621 # Commanded vehicle depth:939.188461 # Seafloor depth:-991.406258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.02; 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 = 211.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 998.532624 meters looking forward 100.000000 meters along route # Maximum depth: 1004.853154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.532624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777547; longitude = -122.008910; captureRadius = 10; duration = 79; initialDepth = 954.298110; finalDepth = 948.532624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.217797 # Actual altitude: 52.217797 # Commanded vehicle depth:948.532624 # Seafloor depth:-1000.514948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.87; 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 = 208.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 1004.298110 meters looking forward 100.000000 meters along route # Maximum depth: 1007.071101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.298110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777963; longitude = -122.009630; captureRadius = 10; duration = 79; initialDepth = 956.624135; finalDepth = 954.298110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9823239999999 # Actual altitude: 51.9823239999999 # Commanded vehicle depth:954.29811 # Seafloor depth:-1004.917035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.93; 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 = 207.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 1006.624135 meters looking forward 100.000000 meters along route # Maximum depth: 1010.795754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.624135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778358; longitude = -122.010314; captureRadius = 10; duration = 79; initialDepth = 960.471411; finalDepth = 956.624135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6189250000001 # Actual altitude: 50.6189250000001 # Commanded vehicle depth:956.624135 # Seafloor depth:-1007.128486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 1010.471411 meters looking forward 100.000000 meters along route # Maximum depth: 1010.802219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.471411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778764; longitude = -122.011015; captureRadius = 10; duration = 79; initialDepth = 960.471411; finalDepth = 960.471411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5043509999999 # Actual altitude: 50.5043509999999 # Commanded vehicle depth:960.471411 # Seafloor depth:-1010.631832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 79.354907 meters # Minimum depth: 1010.471411 meters looking forward 100.000000 meters along route # Maximum depth: 1012.087123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.471411 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779161; longitude = -122.011702; captureRadius = 10; duration = 79; initialDepth = 960.740015; finalDepth = 960.471411; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.583897 # Actual altitude: 50.583897 # Commanded vehicle depth:960.471411 # Seafloor depth:-1011.055308 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.34; 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 = 202.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 79.354907 meters # Minimum depth: 1010.740015 meters looking forward 100.000000 meters along route # Maximum depth: 1012.410274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.740015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779560; longitude = -122.012393; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 961.861792; finalDepth = 960.740015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.455313 # Actual altitude: 51.455313 # Commanded vehicle depth:960.740015 # Seafloor depth:-1012.195328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; 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 = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1011.861792 meters looking forward 100.000000 meters along route # Maximum depth: 1012.423861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.861792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779620; longitude = -122.012507; captureRadius = 10; duration = 79; initialDepth = 961.988502; finalDepth = 961.861792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.455313 # Actual altitude: 51.455313 # Commanded vehicle depth:961.861792 # Seafloor depth:-1012.416518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; 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 = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1011.988502 meters looking forward 100.000000 meters along route # Maximum depth: 1012.389754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.988502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779991; longitude = -122.013215; captureRadius = 10; duration = 79; initialDepth = 961.923154; finalDepth = 961.988502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.554726 # Actual altitude: 50.554726 # Commanded vehicle depth:961.988502 # Seafloor depth:-1012.234372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1011.923154 meters looking forward 100.000000 meters along route # Maximum depth: 1013.737216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.923154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780372; longitude = -122.013943; captureRadius = 10; duration = 79; initialDepth = 962.280712; finalDepth = 961.923154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5097400000001 # Actual altitude: 50.5097400000001 # Commanded vehicle depth:961.923154 # Seafloor depth:-1012.432894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1012.280712 meters looking forward 100.000000 meters along route # Maximum depth: 1018.429436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.280712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780754; longitude = -122.014671; captureRadius = 10; duration = 79; initialDepth = 968.326846; finalDepth = 962.280712; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.625928 # Actual altitude: 51.625928 # Commanded vehicle depth:962.280712 # Seafloor depth:-1013.906640 # 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 50 # Segment length 79.354907 meters # Minimum depth: 1018.326846 meters looking forward 100.000000 meters along route # Maximum depth: 1021.488930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.326846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781135; longitude = -122.015400; captureRadius = 10; duration = 79; initialDepth = 970.968895; finalDepth = 968.326846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.625928 # Actual altitude: 51.625928 # Commanded vehicle depth:968.326846 # Seafloor depth:-1018.440466 # 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 50 # Segment length 79.354907 meters # Minimum depth: 1020.968895 meters looking forward 100.000000 meters along route # Maximum depth: 1023.794050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.968895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781517; longitude = -122.016128; captureRadius = 10; duration = 79; initialDepth = 973.199559; finalDepth = 970.968895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.535967 # Actual altitude: 50.535967 # Commanded vehicle depth:970.968895 # Seafloor depth:-1021.504862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.14; 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 = 202.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1023.199559 meters looking forward 100.000000 meters along route # Maximum depth: 1027.702404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.199559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781899; longitude = -122.016856; captureRadius = 10; duration = 79; initialDepth = 976.773169; finalDepth = 973.199559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.892997 # Actual altitude: 50.892997 # Commanded vehicle depth:973.199559 # Seafloor depth:-1024.092556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.57; 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 = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1026.773169 meters looking forward 100.000000 meters along route # Maximum depth: 1030.878379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.773169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782280; longitude = -122.017584; captureRadius = 10; duration = 79; initialDepth = 980.562545; finalDepth = 976.773169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.944121 # Actual altitude: 50.944121 # Commanded vehicle depth:976.773169 # Seafloor depth:-1027.717290 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1030.562545 meters looking forward 100.000000 meters along route # Maximum depth: 1030.935288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.562545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782662; longitude = -122.018313; captureRadius = 10; duration = 79; initialDepth = 980.322099; finalDepth = 980.562545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.944121 # Actual altitude: 50.944121 # Commanded vehicle depth:980.562545 # Seafloor depth:-1030.920396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 79.354907 meters # Minimum depth: 1030.322099 meters looking forward 100.000000 meters along route # Maximum depth: 1030.817292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.322099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783045; longitude = -122.019043; captureRadius = 10; duration = 79; initialDepth = 980.322099; finalDepth = 980.322099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.433025 # Actual altitude: 50.433025 # Commanded vehicle depth:980.322099 # Seafloor depth:-1030.755124 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 79.354907 meters # Minimum depth: 1030.322099 meters looking forward 100.000000 meters along route # Maximum depth: 1032.908611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.322099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783435; longitude = -122.019788; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 982.255114; finalDepth = 980.322099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.433025 # Actual altitude: 50.433025 # Commanded vehicle depth:980.322099 # Seafloor depth:-1030.678467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 79.354907 meters # Minimum depth: 1032.255114 meters looking forward 100.000000 meters along route # Maximum depth: 1034.676391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.255114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783545; longitude = -122.020609; captureRadius = 10; duration = 79; initialDepth = 984.324612; finalDepth = 982.255114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7858639999999 # Actual altitude: 50.7858639999999 # Commanded vehicle depth:982.255114 # Seafloor depth:-1033.040978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.14; 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 = 203.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 79.354907 meters # Minimum depth: 1034.324612 meters looking forward 100.000000 meters along route # Maximum depth: 1038.701010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.324612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783658; longitude = -122.021450; captureRadius = 10; duration = 79; initialDepth = 987.703151; finalDepth = 984.324612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7858639999999 # Actual altitude: 50.7858639999999 # Commanded vehicle depth:984.324612 # Seafloor depth:-1034.894886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.14; 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 = 203.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 79.354907 meters # Minimum depth: 1037.703151 meters looking forward 100.000000 meters along route # Maximum depth: 1045.700865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.703151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783771; longitude = -122.022290; captureRadius = 10; duration = 79; initialDepth = 990.430905; finalDepth = 987.703151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2600400000001 # Actual altitude: 51.2600400000001 # Commanded vehicle depth:987.703151 # Seafloor depth:-1038.963191 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.04; 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 = 205.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 79.354907 meters # Minimum depth: 1040.430905 meters looking forward 100.000000 meters along route # Maximum depth: 1047.096401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.430905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783886; longitude = -122.023149; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 996.638103; finalDepth = 990.430905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.455966 # Actual altitude: 55.455966 # Commanded vehicle depth:990.430905 # Seafloor depth:-1045.886871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 79.354907 meters # Minimum depth: 1046.638103 meters looking forward 100.000000 meters along route # Maximum depth: 1049.643135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.638103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783851; longitude = -122.023522; captureRadius = 10; duration = 79; initialDepth = 998.680055; finalDepth = 996.638103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.455966 # Actual altitude: 55.455966 # Commanded vehicle depth:996.638103 # Seafloor depth:-1047.168411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 79.354907 meters # Minimum depth: 1048.680055 meters looking forward 100.000000 meters along route # Maximum depth: 1053.011913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 998.680055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783773; longitude = -122.024363; captureRadius = 10; duration = 79; initialDepth = 1002.214424; finalDepth = 998.680055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2766999999999 # Actual altitude: 51.2766999999999 # Commanded vehicle depth:998.680055 # Seafloor depth:-1049.956755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 79.354907 meters # Minimum depth: 1052.214424 meters looking forward 100.000000 meters along route # Maximum depth: 1054.947765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.214424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783695; longitude = -122.025203; captureRadius = 10; duration = 79; initialDepth = 1002.738513; finalDepth = 1002.214424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2766999999999 # Actual altitude: 51.2766999999999 # Commanded vehicle depth:1002.214424 # Seafloor depth:-1053.285210 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.11; 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 = 205.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 79.354907 meters # Minimum depth: 1052.738513 meters looking forward 100.000000 meters along route # Maximum depth: 1054.947765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.738513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783615; longitude = -122.026062; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1004.463444; finalDepth = 1002.738513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.201734 # Actual altitude: 52.201734 # Commanded vehicle depth:1002.738513 # Seafloor depth:-1054.940247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1054.463444 meters looking forward 100.000000 meters along route # Maximum depth: 1054.947765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.463444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783540; longitude = -122.026168; captureRadius = 10; duration = 79; initialDepth = 1004.413116; finalDepth = 1004.463444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.201734 # Actual altitude: 52.201734 # Commanded vehicle depth:1004.463444 # Seafloor depth:-1054.779230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1054.413116 meters looking forward 100.000000 meters along route # Maximum depth: 1054.794683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.413116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783090; longitude = -122.026806; captureRadius = 10; duration = 79; initialDepth = 1004.479702; finalDepth = 1004.413116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3157860000001 # Actual altitude: 50.3157860000001 # Commanded vehicle depth:1004.413116 # Seafloor depth:-1054.450606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1054.479702 meters looking forward 100.000000 meters along route # Maximum depth: 1055.300371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.479702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782639; longitude = -122.027444; captureRadius = 10; duration = 79; initialDepth = 1005.137659; finalDepth = 1004.479702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0863519999998 # Actual altitude: 50.0863519999998 # Commanded vehicle depth:1004.479702 # Seafloor depth:-1054.566054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.35; 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 = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1055.137659 meters looking forward 100.000000 meters along route # Maximum depth: 1059.791253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1005.137659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782188; longitude = -122.028083; captureRadius = 10; duration = 79; initialDepth = 1007.325494; finalDepth = 1005.137659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0863519999998 # Actual altitude: 50.0863519999998 # Commanded vehicle depth:1005.137659 # Seafloor depth:-1055.137659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.35; 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 = 200.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1057.325494 meters looking forward 100.000000 meters along route # Maximum depth: 1061.014418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.325494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781738; longitude = -122.028721; captureRadius = 10; duration = 79; initialDepth = 1001.922635; finalDepth = 1007.325494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.936602 # Actual altitude: 52.936602 # Commanded vehicle depth:1007.325494 # Seafloor depth:-1060.262096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; 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 = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1051.922635 meters looking forward 100.000000 meters along route # Maximum depth: 1059.203809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.922635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781287; longitude = -122.029359; captureRadius = 10; duration = 79; initialDepth = 1001.922635; finalDepth = 1001.922635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.286834 # Actual altitude: 55.286834 # Commanded vehicle depth:1001.922635 # Seafloor depth:-1057.209469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1051.922635 meters looking forward 100.000000 meters along route # Maximum depth: 1074.703779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.922635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780837; longitude = -122.029997; captureRadius = 10; duration = 79; initialDepth = 1020.434222; finalDepth = 1001.922635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.286834 # Actual altitude: 55.286834 # Commanded vehicle depth:1001.922635 # Seafloor depth:-1054.173359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1070.434222 meters looking forward 100.000000 meters along route # Maximum depth: 1079.945525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.434222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780385; longitude = -122.030637; captureRadius = 10; duration = 79; initialDepth = 1029.222911; finalDepth = 1020.434222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2815779999999 # Actual altitude: 54.2815779999999 # Commanded vehicle depth:1020.434222 # Seafloor depth:-1074.715800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.13; 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 = 217.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1079.222911 meters looking forward 100.000000 meters along route # Maximum depth: 1080.893817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.222911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779935; longitude = -122.031274; captureRadius = 10; duration = 79; initialDepth = 1025.466592; finalDepth = 1029.222911; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2815779999999 # Actual altitude: 54.2815779999999 # Commanded vehicle depth:1029.222911 # Seafloor depth:-1080.044844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.13; 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 = 217.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1075.466592 meters looking forward 100.000000 meters along route # Maximum depth: 1080.623987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.466592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779485; longitude = -122.031912; captureRadius = 10; duration = 79; initialDepth = 1025.474770; finalDepth = 1025.466592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9750240000001 # Actual altitude: 53.9750240000001 # Commanded vehicle depth:1025.466592 # Seafloor depth:-1079.441616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1075.474770 meters looking forward 100.000000 meters along route # Maximum depth: 1082.871500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.474770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779034; longitude = -122.032550; captureRadius = 10; duration = 79; initialDepth = 1032.604272; finalDepth = 1025.474770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9750240000001 # Actual altitude: 53.9750240000001 # Commanded vehicle depth:1025.47477 # Seafloor depth:-1076.420496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1082.604272 meters looking forward 100.000000 meters along route # Maximum depth: 1083.785091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.604272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778583; longitude = -122.033188; captureRadius = 10; duration = 79; initialDepth = 1032.051526; finalDepth = 1032.604272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9457259999999 # Actual altitude: 50.9457259999999 # Commanded vehicle depth:1032.604272 # Seafloor depth:-1082.697597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1082.051526 meters looking forward 100.000000 meters along route # Maximum depth: 1083.785091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.051526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778131; longitude = -122.033830; captureRadius = 10; duration = 79; initialDepth = 1032.051526; finalDepth = 1032.051526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6827479999999 # Actual altitude: 51.6827479999999 # Commanded vehicle depth:1032.051526 # Seafloor depth:-1083.734274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.73; 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 = 206.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1082.051526 meters looking forward 100.000000 meters along route # Maximum depth: 1091.813651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.051526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777682; longitude = -122.034465; captureRadius = 10; duration = 79; initialDepth = 1038.648737; finalDepth = 1032.051526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6827479999999 # Actual altitude: 51.6827479999999 # Commanded vehicle depth:1032.051526 # Seafloor depth:-1082.191223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.73; 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 = 206.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1088.648737 meters looking forward 100.000000 meters along route # Maximum depth: 1100.548959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.648737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777232; longitude = -122.035103; captureRadius = 10; duration = 79; initialDepth = 1048.370218; finalDepth = 1038.648737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6571730000001 # Actual altitude: 53.6571730000001 # Commanded vehicle depth:1038.648737 # Seafloor depth:-1092.305910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.63; 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 = 214.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1098.370218 meters looking forward 100.000000 meters along route # Maximum depth: 1104.293322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1048.370218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776781; longitude = -122.035741; captureRadius = 10; duration = 79; initialDepth = 1051.089352; finalDepth = 1048.370218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6571730000001 # Actual altitude: 53.6571730000001 # Commanded vehicle depth:1048.370218 # Seafloor depth:-1100.625650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.63; 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 = 214.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 79.354907 meters # Minimum depth: 1101.089352 meters looking forward 100.000000 meters along route # Maximum depth: 1104.293322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.089352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776311; longitude = -122.036407; captureRadius = 10; duration = 79; initialDepth = 1049.794420; finalDepth = 1051.089352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7486260000001 # Actual altitude: 52.7486260000001 # Commanded vehicle depth:1051.089352 # Seafloor depth:-1103.837978 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; 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 = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 79.354907 meters # Minimum depth: 1099.794420 meters looking forward 100.000000 meters along route # Maximum depth: 1103.454180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.794420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775850; longitude = -122.037060; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1050.329062; finalDepth = 1049.794420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7486260000001 # Actual altitude: 52.7486260000001 # Commanded vehicle depth:1049.79442 # Seafloor depth:-1100.831757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.99; 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 = 210.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 79.354907 meters # Minimum depth: 1100.329062 meters looking forward 100.000000 meters along route # Maximum depth: 1108.730551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.329062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775339; longitude = -122.037267; captureRadius = 10; duration = 79; initialDepth = 1057.896214; finalDepth = 1050.329062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8181890000001 # Actual altitude: 51.8181890000001 # Commanded vehicle depth:1050.329062 # Seafloor depth:-1102.147251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.27; 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 = 207.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 79.354907 meters # Minimum depth: 1107.896214 meters looking forward 100.000000 meters along route # Maximum depth: 1111.491496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.896214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774663; longitude = -122.037540; captureRadius = 10; duration = 79; initialDepth = 1060.406426; finalDepth = 1057.896214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8181890000001 # Actual altitude: 51.8181890000001 # Commanded vehicle depth:1057.896214 # Seafloor depth:-1108.867594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.27; 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 = 207.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 79.354907 meters # Minimum depth: 1110.406426 meters looking forward 100.000000 meters along route # Maximum depth: 1114.111251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1060.406426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774003; longitude = -122.037807; captureRadius = 10; duration = 79; initialDepth = 1063.854218; finalDepth = 1060.406426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.264721 # Actual altitude: 51.264721 # Commanded vehicle depth:1060.406426 # Seafloor depth:-1111.671147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; 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 = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 79.354907 meters # Minimum depth: 1113.854218 meters looking forward 100.000000 meters along route # Maximum depth: 1115.635375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.854218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773356; longitude = -122.038069; captureRadius = 10; duration = 79; initialDepth = 1064.230811; finalDepth = 1063.854218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.264721 # Actual altitude: 51.264721 # Commanded vehicle depth:1063.854218 # Seafloor depth:-1114.230811 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.06; 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 = 205.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 79.354907 meters # Minimum depth: 1114.230811 meters looking forward 100.000000 meters along route # Maximum depth: 1115.635375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.230811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772710; longitude = -122.038330; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1065.446823; finalDepth = 1064.230811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.365045 # Actual altitude: 51.365045 # Commanded vehicle depth:1064.230811 # Seafloor depth:-1115.595856 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1115.446823 meters looking forward 100.000000 meters along route # Maximum depth: 1116.624889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.446823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772500; longitude = -122.038374; captureRadius = 10; duration = 79; initialDepth = 1066.240356; finalDepth = 1065.446823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.365045 # Actual altitude: 51.365045 # Commanded vehicle depth:1065.446823 # Seafloor depth:-1115.470158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1116.240356 meters looking forward 100.000000 meters along route # Maximum depth: 1118.061969 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.240356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771824; longitude = -122.038515; captureRadius = 10; duration = 79; initialDepth = 1067.602174; finalDepth = 1066.240356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5336769999999 # Actual altitude: 50.5336769999999 # Commanded vehicle depth:1066.240356 # Seafloor depth:-1116.774033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.13; 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 = 202.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1117.602174 meters looking forward 100.000000 meters along route # Maximum depth: 1122.305975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.602174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771148; longitude = -122.038656; captureRadius = 10; duration = 79; initialDepth = 1071.304894; finalDepth = 1067.602174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.620269 # Actual altitude: 50.620269 # Commanded vehicle depth:1067.602174 # Seafloor depth:-1118.222443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1121.304894 meters looking forward 100.000000 meters along route # Maximum depth: 1125.481036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.304894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770472; longitude = -122.038796; captureRadius = 10; duration = 79; initialDepth = 1075.083873; finalDepth = 1071.304894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.326646 # Actual altitude: 51.326646 # Commanded vehicle depth:1071.304894 # Seafloor depth:-1122.631540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.31; 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 = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1125.083873 meters looking forward 100.000000 meters along route # Maximum depth: 1129.203467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.083873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769796; longitude = -122.038937; captureRadius = 10; duration = 79; initialDepth = 1077.851134; finalDepth = 1075.083873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.326646 # Actual altitude: 51.326646 # Commanded vehicle depth:1075.083873 # Seafloor depth:-1125.623742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.31; 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 = 205.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1127.851134 meters looking forward 100.000000 meters along route # Maximum depth: 1133.564636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.851134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769121; longitude = -122.039078; captureRadius = 10; duration = 79; initialDepth = 1082.417937; finalDepth = 1077.851134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.802013 # Actual altitude: 51.802013 # Commanded vehicle depth:1077.851134 # Seafloor depth:-1129.653147 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.21; 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 = 207.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1132.417937 meters looking forward 100.000000 meters along route # Maximum depth: 1137.075458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.417937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768445; longitude = -122.039219; captureRadius = 10; duration = 79; initialDepth = 1086.713233; finalDepth = 1082.417937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.802013 # Actual altitude: 51.802013 # Commanded vehicle depth:1082.417937 # Seafloor depth:-1133.914345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.21; 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 = 207.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1136.713233 meters looking forward 100.000000 meters along route # Maximum depth: 1141.101849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.713233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767769; longitude = -122.039360; captureRadius = 10; duration = 79; initialDepth = 1089.829065; finalDepth = 1086.713233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.496408 # Actual altitude: 51.496408 # Commanded vehicle depth:1086.713233 # Seafloor depth:-1137.263439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 205.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1139.829065 meters looking forward 100.000000 meters along route # Maximum depth: 1146.852141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.829065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767093; longitude = -122.039501; captureRadius = 10; duration = 79; initialDepth = 1095.526628; finalDepth = 1089.829065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7436200000002 # Actual altitude: 51.7436200000002 # Commanded vehicle depth:1089.829065 # Seafloor depth:-1141.572685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 79.354907 meters # Minimum depth: 1145.526628 meters looking forward 100.000000 meters along route # Maximum depth: 1148.379407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.526628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766417; longitude = -122.039642; captureRadius = 10; duration = 79; initialDepth = 1096.794693; finalDepth = 1095.526628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7646849999999 # Actual altitude: 51.7646849999999 # Commanded vehicle depth:1095.526628 # Seafloor depth:-1147.291313 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.06; 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 = 207.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 79.354907 meters # Minimum depth: 1146.794693 meters looking forward 100.000000 meters along route # Maximum depth: 1148.379407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.794693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765726; longitude = -122.039786; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1096.667104; finalDepth = 1096.794693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7646849999999 # Actual altitude: 51.7646849999999 # Commanded vehicle depth:1096.794693 # Seafloor depth:-1147.282166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.06; 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 = 207.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.354907 meters # Minimum depth: 1146.667104 meters looking forward 100.000000 meters along route # Maximum depth: 1151.788291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.667104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765556; longitude = -122.039712; captureRadius = 10; duration = 79; initialDepth = 1099.156206; finalDepth = 1096.667104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4874729999999 # Actual altitude: 50.4874729999999 # Commanded vehicle depth:1096.667104 # Seafloor depth:-1146.782146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.95; 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 = 201.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.354907 meters # Minimum depth: 1149.156206 meters looking forward 100.000000 meters along route # Maximum depth: 1156.006086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.156206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764913; longitude = -122.039432; captureRadius = 10; duration = 79; initialDepth = 1104.421777; finalDepth = 1099.156206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8397599999998 # Actual altitude: 52.8397599999998 # Commanded vehicle depth:1099.156206 # Seafloor depth:-1151.995966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.36; 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 = 211.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.354907 meters # Minimum depth: 1154.421777 meters looking forward 100.000000 meters along route # Maximum depth: 1156.045677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.421777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764270; longitude = -122.039152; captureRadius = 10; duration = 79; initialDepth = 1104.215867; finalDepth = 1104.421777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8397599999998 # Actual altitude: 52.8397599999998 # Commanded vehicle depth:1104.421777 # Seafloor depth:-1156.023373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.36; 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 = 211.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.354907 meters # Minimum depth: 1154.215867 meters looking forward 100.000000 meters along route # Maximum depth: 1155.631193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.215867 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763623; longitude = -122.038870; captureRadius = 10; duration = 79; initialDepth = 1104.919635; finalDepth = 1104.215867; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.601596 # Actual altitude: 51.601596 # Commanded vehicle depth:1104.215867 # Seafloor depth:-1154.413885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.41; 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 = 206.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.354907 meters # Minimum depth: 1154.919635 meters looking forward 100.000000 meters along route # Maximum depth: 1159.144900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.919635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762984; longitude = -122.038591; captureRadius = 10; duration = 79; initialDepth = 1108.339794; finalDepth = 1104.919635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7544290000001 # Actual altitude: 50.7544290000001 # Commanded vehicle depth:1104.919635 # Seafloor depth:-1155.674064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.02; 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 = 203.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 79.354907 meters # Minimum depth: 1158.339794 meters looking forward 100.000000 meters along route # Maximum depth: 1162.197295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.339794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762316; longitude = -122.038300; captureRadius = 10; duration = 79; initialDepth = 1110.178018; finalDepth = 1108.339794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.000648 # Actual altitude: 51.000648 # Commanded vehicle depth:1108.339794 # Seafloor depth:-1159.340442 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 79.354907 meters # Minimum depth: 1160.178018 meters looking forward 100.000000 meters along route # Maximum depth: 1164.147610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1110.178018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761655; longitude = -122.038012; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1113.485961; finalDepth = 1110.178018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1600559999999 # Actual altitude: 52.1600559999999 # Commanded vehicle depth:1110.178018 # Seafloor depth:-1162.338074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1163.485961 meters looking forward 100.000000 meters along route # Maximum depth: 1168.952892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.485961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761319; longitude = -122.037751; captureRadius = 10; duration = 79; initialDepth = 1117.339561; finalDepth = 1113.485961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1600559999999 # Actual altitude: 52.1600559999999 # Commanded vehicle depth:1113.485961 # Seafloor depth:-1164.180409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1167.339561 meters looking forward 100.000000 meters along route # Maximum depth: 1172.183630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1117.339561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760739; longitude = -122.037301; captureRadius = 10; duration = 79; initialDepth = 1120.547466; finalDepth = 1117.339561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6319060000001 # Actual altitude: 51.6319060000001 # Commanded vehicle depth:1117.339561 # Seafloor depth:-1168.971467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.53; 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 = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1170.547466 meters looking forward 100.000000 meters along route # Maximum depth: 1172.183630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.547466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760163; longitude = -122.036855; captureRadius = 10; duration = 79; initialDepth = 1119.435220; finalDepth = 1120.547466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6319060000001 # Actual altitude: 51.6319060000001 # Commanded vehicle depth:1120.547466 # Seafloor depth:-1172.052258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.53; 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 = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1169.435220 meters looking forward 100.000000 meters along route # Maximum depth: 1171.029943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1119.435220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759586; longitude = -122.036407; captureRadius = 10; duration = 79; initialDepth = 1120.139475; finalDepth = 1119.435220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.504792 # Actual altitude: 51.504792 # Commanded vehicle depth:1119.43522 # Seafloor depth:-1170.420686 # 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 43 # Segment length 79.354907 meters # Minimum depth: 1170.139475 meters looking forward 100.000000 meters along route # Maximum depth: 1175.624431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.139475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759008; longitude = -122.035958; captureRadius = 10; duration = 79; initialDepth = 1124.371881; finalDepth = 1120.139475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0262400000001 # Actual altitude: 51.0262400000001 # Commanded vehicle depth:1120.139475 # Seafloor depth:-1171.165715 # behavior reson { duration = 6; 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 during line 43 # Segment length 79.354907 meters # Minimum depth: 1174.371881 meters looking forward 100.000000 meters along route # Maximum depth: 1177.648161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.371881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758431; longitude = -122.035510; captureRadius = 10; duration = 79; initialDepth = 1126.738047; finalDepth = 1124.371881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3251399999999 # Actual altitude: 51.3251399999999 # Commanded vehicle depth:1124.371881 # Seafloor depth:-1175.697021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; 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 = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1176.738047 meters looking forward 100.000000 meters along route # Maximum depth: 1180.736699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.738047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757853; longitude = -122.035062; captureRadius = 10; duration = 79; initialDepth = 1130.132141; finalDepth = 1126.738047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3251399999999 # Actual altitude: 51.3251399999999 # Commanded vehicle depth:1126.738047 # Seafloor depth:-1177.655510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; 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 = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1180.132141 meters looking forward 100.000000 meters along route # Maximum depth: 1185.501056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.132141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757275; longitude = -122.034614; captureRadius = 10; duration = 79; initialDepth = 1134.771582; finalDepth = 1130.132141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.917463 # Actual altitude: 50.917463 # Commanded vehicle depth:1130.132141 # Seafloor depth:-1180.883264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1184.771582 meters looking forward 100.000000 meters along route # Maximum depth: 1190.730798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1134.771582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756698; longitude = -122.034166; captureRadius = 10; duration = 79; initialDepth = 1138.925753; finalDepth = 1134.771582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8993599999999 # Actual altitude: 50.8993599999999 # Commanded vehicle depth:1134.771582 # Seafloor depth:-1185.670942 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1188.925753 meters looking forward 100.000000 meters along route # Maximum depth: 1198.113326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.925753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756120; longitude = -122.033718; captureRadius = 10; duration = 79; initialDepth = 1146.817936; finalDepth = 1138.925753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0988830000001 # Actual altitude: 52.0988830000001 # Commanded vehicle depth:1138.925753 # Seafloor depth:-1191.024636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 79.354907 meters # Minimum depth: 1196.817936 meters looking forward 100.000000 meters along route # Maximum depth: 1200.418903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1146.817936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755542; longitude = -122.033270; captureRadius = 10; duration = 79; initialDepth = 1148.577743; finalDepth = 1146.817936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0988830000001 # Actual altitude: 52.0988830000001 # Commanded vehicle depth:1146.817936 # Seafloor depth:-1198.237869 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 79.354907 meters # Minimum depth: 1198.577743 meters looking forward 100.000000 meters along route # Maximum depth: 1200.418903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1148.577743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754941; longitude = -122.032803; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1144.334274; finalDepth = 1148.577743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8045199999999 # Actual altitude: 51.8045199999999 # Commanded vehicle depth:1148.577743 # Seafloor depth:-1200.382263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.22; 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 = 207.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 79.354907 meters # Minimum depth: 1194.334274 meters looking forward 100.000000 meters along route # Maximum depth: 1198.751178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.334274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755187; longitude = -122.032261; captureRadius = 10; duration = 79; initialDepth = 1144.007595; finalDepth = 1144.334274; 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: 54.1765029999999 # Actual altitude: 54.1765029999999 # Commanded vehicle depth:1144.334274 # Seafloor depth:-1198.510777 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 79.354907 meters # Minimum depth: 1194.007595 meters looking forward 100.000000 meters along route # Maximum depth: 1198.639519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1144.007595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755527; longitude = -122.031514; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1142.254204; finalDepth = 1144.007595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1765029999999 # Actual altitude: 54.1765029999999 # Commanded vehicle depth:1144.007595 # Seafloor depth:-1194.379150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 79.354907 meters # Minimum depth: 1192.254204 meters looking forward 100.000000 meters along route # Maximum depth: 1194.387016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.254204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755610; longitude = -122.031589; captureRadius = 10; duration = 79; initialDepth = 1137.198801; finalDepth = 1142.254204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7223799999999 # Actual altitude: 51.7223799999999 # Commanded vehicle depth:1142.254204 # Seafloor depth:-1193.976584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.89; 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 = 206.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 79.354907 meters # Minimum depth: 1187.198801 meters looking forward 100.000000 meters along route # Maximum depth: 1193.101673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.198801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756166; longitude = -122.032093; captureRadius = 10; duration = 79; initialDepth = 1131.992539; finalDepth = 1137.198801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9407799999999 # Actual altitude: 54.9407799999999 # Commanded vehicle depth:1137.198801 # Seafloor depth:-1192.139581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 79.354907 meters # Minimum depth: 1181.992539 meters looking forward 100.000000 meters along route # Maximum depth: 1188.716705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1131.992539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756729; longitude = -122.032604; captureRadius = 10; duration = 79; initialDepth = 1129.216234; finalDepth = 1131.992539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1248719999999 # Actual altitude: 55.1248719999999 # Commanded vehicle depth:1131.992539 # Seafloor depth:-1187.117411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 79.354907 meters # Minimum depth: 1179.216234 meters looking forward 100.000000 meters along route # Maximum depth: 1183.261694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.216234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757278; longitude = -122.033102; captureRadius = 10; duration = 79; initialDepth = 1122.923622; finalDepth = 1129.216234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1248719999999 # Actual altitude: 55.1248719999999 # Commanded vehicle depth:1129.216234 # Seafloor depth:-1181.938893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 79.354907 meters # Minimum depth: 1172.923622 meters looking forward 100.000000 meters along route # Maximum depth: 1180.104433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.923622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757834; longitude = -122.033606; captureRadius = 10; duration = 79; initialDepth = 1122.379451; finalDepth = 1122.923622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9907860000001 # Actual altitude: 55.9907860000001 # Commanded vehicle depth:1122.923622 # Seafloor depth:-1178.914408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 79.354907 meters # Minimum depth: 1172.379451 meters looking forward 100.000000 meters along route # Maximum depth: 1174.091780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1122.379451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758396; longitude = -122.034115; captureRadius = 10; duration = 79; initialDepth = 1121.454116; finalDepth = 1122.379451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9907860000001 # Actual altitude: 55.9907860000001 # Commanded vehicle depth:1122.379451 # Seafloor depth:-1172.876433 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 223.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 79.354907 meters # Minimum depth: 1171.454116 meters looking forward 100.000000 meters along route # Maximum depth: 1174.366010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.454116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758967; longitude = -122.034633; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1118.017437; finalDepth = 1121.454116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8058939999999 # Actual altitude: 52.8058939999999 # Commanded vehicle depth:1121.454116 # Seafloor depth:-1174.260010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; 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 = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1168.017437 meters looking forward 100.000000 meters along route # Maximum depth: 1172.343441 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.017437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759432; longitude = -122.034922; captureRadius = 10; duration = 79; initialDepth = 1112.023428; finalDepth = 1118.017437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.064118 # Actual altitude: 53.064118 # Commanded vehicle depth:1118.017437 # Seafloor depth:-1171.081555 # 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 40 # Segment length 79.354907 meters # Minimum depth: 1162.023428 meters looking forward 100.000000 meters along route # Maximum depth: 1168.912356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.023428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760063; longitude = -122.035314; captureRadius = 10; duration = 79; initialDepth = 1108.389181; finalDepth = 1112.023428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.626567 # Actual altitude: 55.626567 # Commanded vehicle depth:1112.023428 # Seafloor depth:-1167.649995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1158.389181 meters looking forward 100.000000 meters along route # Maximum depth: 1162.173495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.389181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760694; longitude = -122.035707; captureRadius = 10; duration = 79; initialDepth = 1108.191648; finalDepth = 1108.389181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.626567 # Actual altitude: 55.626567 # Commanded vehicle depth:1108.389181 # Seafloor depth:-1161.776028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1158.191648 meters looking forward 100.000000 meters along route # Maximum depth: 1160.457180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.191648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761325; longitude = -122.036099; captureRadius = 10; duration = 79; initialDepth = 1106.605669; finalDepth = 1108.191648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.386847 # Actual altitude: 53.386847 # Commanded vehicle depth:1108.191648 # Seafloor depth:-1158.288082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.55; 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 = 213.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1156.605669 meters looking forward 100.000000 meters along route # Maximum depth: 1160.702943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.605669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761956; longitude = -122.036491; captureRadius = 10; duration = 79; initialDepth = 1104.391145; finalDepth = 1106.605669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9989619999999 # Actual altitude: 53.9989619999999 # Commanded vehicle depth:1106.605669 # Seafloor depth:-1160.604631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1154.391145 meters looking forward 100.000000 meters along route # Maximum depth: 1157.459379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1104.391145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762587; longitude = -122.036883; captureRadius = 10; duration = 79; initialDepth = 1092.896075; finalDepth = 1104.391145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9989619999999 # Actual altitude: 53.9989619999999 # Commanded vehicle depth:1104.391145 # Seafloor depth:-1156.522371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 216.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1142.896075 meters looking forward 100.000000 meters along route # Maximum depth: 1155.585812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.896075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763218; longitude = -122.037275; captureRadius = 10; duration = 79; initialDepth = 1090.374915; finalDepth = 1092.896075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3267289999999 # Actual altitude: 60.3267289999999 # Commanded vehicle depth:1092.896075 # Seafloor depth:-1153.222804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1140.374915 meters looking forward 100.000000 meters along route # Maximum depth: 1144.283863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.374915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763848; longitude = -122.037667; captureRadius = 10; duration = 79; initialDepth = 1090.618318; finalDepth = 1090.374915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3267289999999 # Actual altitude: 60.3267289999999 # Commanded vehicle depth:1090.374915 # Seafloor depth:-1142.466278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 79.354907 meters # Minimum depth: 1140.618318 meters looking forward 100.000000 meters along route # Maximum depth: 1142.807919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.618318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764479; longitude = -122.038060; captureRadius = 10; duration = 79; initialDepth = 1077.037964; finalDepth = 1090.618318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.091363 # Actual altitude: 52.091363 # Commanded vehicle depth:1090.618318 # Seafloor depth:-1141.002694 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 79.354907 meters # Minimum depth: 1127.037964 meters looking forward 100.000000 meters along route # Maximum depth: 1142.618391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.037964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765125; longitude = -122.038461; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1064.158312; finalDepth = 1077.037964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.4545289999999 # Actual altitude: 64.4545289999999 # Commanded vehicle depth:1077.037964 # Seafloor depth:-1141.492493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 257.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1114.158312 meters looking forward 100.000000 meters along route # Maximum depth: 1129.399320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1064.158312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765741; longitude = -122.038341; captureRadius = 10; duration = 79; initialDepth = 1062.124650; finalDepth = 1064.158312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.4545289999999 # Actual altitude: 64.4545289999999 # Commanded vehicle depth:1064.158312 # Seafloor depth:-1125.811185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 257.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 257.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1112.124650 meters looking forward 100.000000 meters along route # Maximum depth: 1114.543753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.124650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766417; longitude = -122.038210; captureRadius = 10; duration = 79; initialDepth = 1061.638746; finalDepth = 1062.124650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.652873 # Actual altitude: 61.652873 # Commanded vehicle depth:1062.12465 # Seafloor depth:-1114.403533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 246.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1111.638746 meters looking forward 100.000000 meters along route # Maximum depth: 1114.898635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.638746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767093; longitude = -122.038079; captureRadius = 10; duration = 79; initialDepth = 1058.050119; finalDepth = 1061.638746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.278883 # Actual altitude: 52.278883 # Commanded vehicle depth:1061.638746 # Seafloor depth:-1112.582185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1108.050119 meters looking forward 100.000000 meters along route # Maximum depth: 1113.590791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.050119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767769; longitude = -122.037947; captureRadius = 10; duration = 79; initialDepth = 1055.348733; finalDepth = 1058.050119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9498579999999 # Actual altitude: 52.9498579999999 # Commanded vehicle depth:1058.050119 # Seafloor depth:-1110.999977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1105.348733 meters looking forward 100.000000 meters along route # Maximum depth: 1108.509720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.348733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768445; longitude = -122.037816; captureRadius = 10; duration = 79; initialDepth = 1049.007019; finalDepth = 1055.348733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9498579999999 # Actual altitude: 52.9498579999999 # Commanded vehicle depth:1055.348733 # Seafloor depth:-1107.942855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1099.007019 meters looking forward 100.000000 meters along route # Maximum depth: 1105.817531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.007019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769121; longitude = -122.037685; captureRadius = 10; duration = 79; initialDepth = 1044.665906; finalDepth = 1049.007019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8922590000002 # Actual altitude: 55.8922590000002 # Commanded vehicle depth:1049.007019 # Seafloor depth:-1104.899278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1094.665906 meters looking forward 100.000000 meters along route # Maximum depth: 1100.448933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.665906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769796; longitude = -122.037554; captureRadius = 10; duration = 79; initialDepth = 1041.823606; finalDepth = 1044.665906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8922590000002 # Actual altitude: 55.8922590000002 # Commanded vehicle depth:1044.665906 # Seafloor depth:-1098.566905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1091.823606 meters looking forward 100.000000 meters along route # Maximum depth: 1095.298414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.823606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770472; longitude = -122.037422; captureRadius = 10; duration = 79; initialDepth = 1041.107632; finalDepth = 1041.823606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.900999 # Actual altitude: 53.900999 # Commanded vehicle depth:1041.823606 # Seafloor depth:-1094.406825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 79.354907 meters # Minimum depth: 1091.107632 meters looking forward 100.000000 meters along route # Maximum depth: 1092.904937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.107632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771148; longitude = -122.037291; captureRadius = 10; duration = 79; initialDepth = 1041.107632; finalDepth = 1041.107632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5832190000001 # Actual altitude: 52.5832190000001 # Commanded vehicle depth:1041.107632 # Seafloor depth:-1091.680827 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 79.354907 meters # Minimum depth: 1091.107632 meters looking forward 100.000000 meters along route # Maximum depth: 1094.571853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.107632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771854; longitude = -122.037154; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1043.765213; finalDepth = 1041.107632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.103885 # Actual altitude: 52.103885 # Commanded vehicle depth:1041.107632 # Seafloor depth:-1093.211517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 79.354907 meters # Minimum depth: 1093.765213 meters looking forward 100.000000 meters along route # Maximum depth: 1100.553588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.765213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772185; longitude = -122.037014; captureRadius = 10; duration = 79; initialDepth = 1046.638338; finalDepth = 1043.765213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.103885 # Actual altitude: 52.103885 # Commanded vehicle depth:1043.765213 # Seafloor depth:-1094.745180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 79.354907 meters # Minimum depth: 1096.638338 meters looking forward 100.000000 meters along route # Maximum depth: 1101.007282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.638338 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772861; longitude = -122.036728; captureRadius = 10; duration = 79; initialDepth = 1040.992782; finalDepth = 1046.638338; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9786180000001 # Actual altitude: 53.9786180000001 # Commanded vehicle depth:1046.638338 # Seafloor depth:-1100.616956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 79.354907 meters # Minimum depth: 1090.992782 meters looking forward 100.000000 meters along route # Maximum depth: 1097.904122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.992782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773537; longitude = -122.036443; captureRadius = 10; duration = 79; initialDepth = 1040.992782; finalDepth = 1040.992782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0476269999999 # Actual altitude: 55.0476269999999 # Commanded vehicle depth:1040.992782 # Seafloor depth:-1096.040409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 79.354907 meters # Minimum depth: 1090.992782 meters looking forward 100.000000 meters along route # Maximum depth: 1097.429790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.992782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774212; longitude = -122.036157; captureRadius = 10; duration = 79; initialDepth = 1043.256558; finalDepth = 1040.992782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0476269999999 # Actual altitude: 55.0476269999999 # Commanded vehicle depth:1040.992782 # Seafloor depth:-1091.227097 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 79.354907 meters # Minimum depth: 1093.256558 meters looking forward 100.000000 meters along route # Maximum depth: 1097.691148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.256558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774858; longitude = -122.035884; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1042.293220; finalDepth = 1043.256558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3687170000001 # Actual altitude: 54.3687170000001 # Commanded vehicle depth:1043.256558 # Seafloor depth:-1097.625275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.47; 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 = 217.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1092.293220 meters looking forward 100.000000 meters along route # Maximum depth: 1097.691148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.293220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775193; longitude = -122.035454; captureRadius = 10; duration = 79; initialDepth = 1036.566432; finalDepth = 1042.293220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1192879999999 # Actual altitude: 55.1192879999999 # Commanded vehicle depth:1042.29322 # Seafloor depth:-1097.412508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1086.566432 meters looking forward 100.000000 meters along route # Maximum depth: 1093.698262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.566432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775673; longitude = -122.034838; captureRadius = 10; duration = 79; initialDepth = 1033.023671; finalDepth = 1036.566432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.492516 # Actual altitude: 55.492516 # Commanded vehicle depth:1036.566432 # Seafloor depth:-1092.058948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 221.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1083.023671 meters looking forward 100.000000 meters along route # Maximum depth: 1089.063157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.023671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776153; longitude = -122.034222; captureRadius = 10; duration = 79; initialDepth = 1033.070277; finalDepth = 1033.023671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.492516 # Actual altitude: 55.492516 # Commanded vehicle depth:1033.023671 # Seafloor depth:-1086.511248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 221.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1083.070277 meters looking forward 100.000000 meters along route # Maximum depth: 1086.553481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.070277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776633; longitude = -122.033606; captureRadius = 10; duration = 79; initialDepth = 1030.948876; finalDepth = 1033.070277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4875770000001 # Actual altitude: 53.4875770000001 # Commanded vehicle depth:1033.070277 # Seafloor depth:-1083.818632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1080.948876 meters looking forward 100.000000 meters along route # Maximum depth: 1086.325891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.948876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777114; longitude = -122.032989; captureRadius = 10; duration = 79; initialDepth = 1022.228491; finalDepth = 1030.948876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1727090000002 # Actual altitude: 55.1727090000002 # Commanded vehicle depth:1030.948876 # Seafloor depth:-1086.121585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.69; 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 = 220.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1072.228491 meters looking forward 100.000000 meters along route # Maximum depth: 1083.184146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1022.228491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777594; longitude = -122.032373; captureRadius = 10; duration = 79; initialDepth = 1019.442099; finalDepth = 1022.228491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6876279999999 # Actual altitude: 58.6876279999999 # Commanded vehicle depth:1022.228491 # Seafloor depth:-1080.916119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1069.442099 meters looking forward 100.000000 meters along route # Maximum depth: 1073.625413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.442099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778074; longitude = -122.031757; captureRadius = 10; duration = 79; initialDepth = 1019.159992; finalDepth = 1019.442099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6876279999999 # Actual altitude: 58.6876279999999 # Commanded vehicle depth:1019.442099 # Seafloor depth:-1071.856081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 234.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 79.354907 meters # Minimum depth: 1069.159992 meters looking forward 100.000000 meters along route # Maximum depth: 1069.922120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.159992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778554; longitude = -122.031141; captureRadius = 10; duration = 79; initialDepth = 1018.356405; finalDepth = 1019.159992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.4139819999998 # Actual altitude: 52.4139819999998 # Commanded vehicle depth:1019.159992 # Seafloor depth:-1069.414676 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 79.354907 meters # Minimum depth: 1068.356405 meters looking forward 100.000000 meters along route # Maximum depth: 1069.893834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.356405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779049; longitude = -122.030506; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1018.640832; finalDepth = 1018.356405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6732890000001 # Actual altitude: 50.6732890000001 # Commanded vehicle depth:1018.356405 # Seafloor depth:-1069.029694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 79.354907 meters # Minimum depth: 1068.640832 meters looking forward 100.000000 meters along route # Maximum depth: 1069.571272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.640832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779360; longitude = -122.030020; captureRadius = 10; duration = 79; initialDepth = 1013.989747; finalDepth = 1018.640832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6732890000001 # Actual altitude: 50.6732890000001 # Commanded vehicle depth:1018.640832 # Seafloor depth:-1068.796739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 79.354907 meters # Minimum depth: 1063.989747 meters looking forward 100.000000 meters along route # Maximum depth: 1069.449431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.989747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779800; longitude = -122.029334; captureRadius = 10; duration = 79; initialDepth = 1009.416950; finalDepth = 1013.989747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.896152 # Actual altitude: 54.896152 # Commanded vehicle depth:1013.989747 # Seafloor depth:-1068.885899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 79.354907 meters # Minimum depth: 1059.416950 meters looking forward 100.000000 meters along route # Maximum depth: 1065.232846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.416950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780222; longitude = -122.028676; captureRadius = 10; duration = 79; initialDepth = 1001.045204; finalDepth = 1009.416950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.896152 # Actual altitude: 54.896152 # Commanded vehicle depth:1009.41695 # Seafloor depth:-1063.795130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 79.354907 meters # Minimum depth: 1051.045204 meters looking forward 100.000000 meters along route # Maximum depth: 1060.496051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.045204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780656; longitude = -122.027999; captureRadius = 10; duration = 79; initialDepth = 988.737942; finalDepth = 1001.045204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.330101 # Actual altitude: 58.330101 # Commanded vehicle depth:1001.045204 # Seafloor depth:-1059.375305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.33; MB_Bottom_Detect_Filter_Max_Range = 233.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 79.354907 meters # Minimum depth: 1038.737942 meters looking forward 100.000000 meters along route # Maximum depth: 1052.288715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.737942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781084; longitude = -122.027332; captureRadius = 10; duration = 79; initialDepth = 987.576287; finalDepth = 988.737942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9419720000001 # Actual altitude: 61.9419720000001 # Commanded vehicle depth:988.737942 # Seafloor depth:-1050.679914 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 79.354907 meters # Minimum depth: 1037.576287 meters looking forward 100.000000 meters along route # Maximum depth: 1051.605028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.576287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781527; longitude = -122.026641; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 971.758772; finalDepth = 987.576287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9419720000001 # Actual altitude: 61.9419720000001 # Commanded vehicle depth:987.576287 # Seafloor depth:-1038.222351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 79.354907 meters # Minimum depth: 1021.758772 meters looking forward 100.000000 meters along route # Maximum depth: 1041.269866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.758772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781557; longitude = -122.026574; captureRadius = 10; duration = 79; initialDepth = 964.724131; finalDepth = 971.758772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3208799999999 # Actual altitude: 65.3208799999999 # Commanded vehicle depth:971.758772 # Seafloor depth:-1037.079652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 261.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 79.354907 meters # Minimum depth: 1014.724131 meters looking forward 100.000000 meters along route # Maximum depth: 1025.068704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.724131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781900; longitude = -122.025819; captureRadius = 10; duration = 79; initialDepth = 964.482430; finalDepth = 964.724131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3208799999999 # Actual altitude: 65.3208799999999 # Commanded vehicle depth:964.724131 # Seafloor depth:-1020.960252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 261.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 79.354907 meters # Minimum depth: 1014.482430 meters looking forward 100.000000 meters along route # Maximum depth: 1017.457587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.482430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782233; longitude = -122.025083; captureRadius = 10; duration = 79; initialDepth = 966.608322; finalDepth = 964.482430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2361209999999 # Actual altitude: 56.2361209999999 # Commanded vehicle depth:964.48243 # Seafloor depth:-1014.682500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.94; 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 = 224.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 79.354907 meters # Minimum depth: 1016.608322 meters looking forward 100.000000 meters along route # Maximum depth: 1024.423960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.608322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782585; longitude = -122.024307; captureRadius = 10; duration = 79; initialDepth = 963.696642; finalDepth = 966.608322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.350606 # Actual altitude: 51.350606 # Commanded vehicle depth:966.608322 # Seafloor depth:-1017.958928 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.40; 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 = 205.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 79.354907 meters # Minimum depth: 1013.696642 meters looking forward 100.000000 meters along route # Maximum depth: 1025.140366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.696642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782924; longitude = -122.023560; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 958.873894; finalDepth = 963.696642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4437240000001 # Actual altitude: 61.4437240000001 # Commanded vehicle depth:963.696642 # Seafloor depth:-1025.140366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.77; 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 = 245.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 79.354907 meters # Minimum depth: 1008.873894 meters looking forward 100.000000 meters along route # Maximum depth: 1017.402885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.873894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782773; longitude = -122.022962; captureRadius = 10; duration = 79; initialDepth = 956.764592; finalDepth = 958.873894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4437240000001 # Actual altitude: 61.4437240000001 # Commanded vehicle depth:958.873894 # Seafloor depth:-1013.624634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.77; 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 = 245.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 79.354907 meters # Minimum depth: 1006.764592 meters looking forward 100.000000 meters along route # Maximum depth: 1009.783258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.764592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782561; longitude = -122.022122; captureRadius = 10; duration = 79; initialDepth = 956.764592; finalDepth = 956.764592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7507400000001 # Actual altitude: 54.7507400000001 # Commanded vehicle depth:956.764592 # Seafloor depth:-1008.666208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 79.354907 meters # Minimum depth: 1006.764592 meters looking forward 100.000000 meters along route # Maximum depth: 1010.114158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.764592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782348; longitude = -122.021282; captureRadius = 10; duration = 79; initialDepth = 959.496080; finalDepth = 956.764592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.901616 # Actual altitude: 51.901616 # Commanded vehicle depth:956.764592 # Seafloor depth:-1007.206557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 79.354907 meters # Minimum depth: 1009.496080 meters looking forward 100.000000 meters along route # Maximum depth: 1016.665219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.496080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782136; longitude = -122.020441; captureRadius = 10; duration = 79; initialDepth = 960.270552; finalDepth = 959.496080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7744719999999 # Actual altitude: 50.7744719999999 # Commanded vehicle depth:959.49608 # Seafloor depth:-1010.270552 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 to get to end of line 33 # Segment length 79.354907 meters # Minimum depth: 1010.270552 meters looking forward 100.000000 meters along route # Maximum depth: 1016.972809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.270552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781933; longitude = -122.019638; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 966.648786; finalDepth = 960.270552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.702257 # Actual altitude: 56.702257 # Commanded vehicle depth:960.270552 # Seafloor depth:-1016.972809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.81; 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 = 226.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 1016.648786 meters looking forward 100.000000 meters along route # Maximum depth: 1019.337314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.648786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781816; longitude = -122.019433; captureRadius = 10; duration = 79; initialDepth = 967.532501; finalDepth = 966.648786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.702257 # Actual altitude: 56.702257 # Commanded vehicle depth:966.648786 # Seafloor depth:-1016.684165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.81; 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 = 226.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 1017.532501 meters looking forward 100.000000 meters along route # Maximum depth: 1019.968101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.532501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781422; longitude = -122.018746; captureRadius = 10; duration = 79; initialDepth = 959.220267; finalDepth = 967.532501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.839706 # Actual altitude: 51.839706 # Commanded vehicle depth:967.532501 # Seafloor depth:-1019.372207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.36; 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 = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 1009.220267 meters looking forward 100.000000 meters along route # Maximum depth: 1018.703682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.220267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781014; longitude = -122.018033; captureRadius = 10; duration = 79; initialDepth = 952.494554; finalDepth = 959.220267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.256488 # Actual altitude: 58.256488 # Commanded vehicle depth:959.220267 # Seafloor depth:-1017.476755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 233.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 1002.494554 meters looking forward 100.000000 meters along route # Maximum depth: 1011.467597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.494554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780611; longitude = -122.017329; captureRadius = 10; duration = 79; initialDepth = 949.041954; finalDepth = 952.494554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.256488 # Actual altitude: 58.256488 # Commanded vehicle depth:952.494554 # Seafloor depth:-1008.828137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 233.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 999.041954 meters looking forward 100.000000 meters along route # Maximum depth: 1003.607648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.041954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780206; longitude = -122.016620; captureRadius = 10; duration = 79; initialDepth = 949.041954; finalDepth = 949.041954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.333583 # Actual altitude: 56.333583 # Commanded vehicle depth:949.041954 # Seafloor depth:-1002.410211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 999.041954 meters looking forward 100.000000 meters along route # Maximum depth: 1001.189850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.041954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779795; longitude = -122.015904; captureRadius = 10; duration = 79; initialDepth = 950.215852; finalDepth = 949.041954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.368257 # Actual altitude: 53.368257 # Commanded vehicle depth:949.041954 # Seafloor depth:-999.382731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.47; 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 = 213.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 1000.215852 meters looking forward 100.000000 meters along route # Maximum depth: 1005.443261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.215852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779395; longitude = -122.015204; captureRadius = 10; duration = 79; initialDepth = 954.638085; finalDepth = 950.215852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.085334 # Actual altitude: 51.085334 # Commanded vehicle depth:950.215852 # Seafloor depth:-1001.301186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.34; 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 = 204.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 79.354907 meters # Minimum depth: 1004.638085 meters looking forward 100.000000 meters along route # Maximum depth: 1007.229962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.638085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778994; longitude = -122.014503; captureRadius = 10; duration = 79; initialDepth = 955.772721; finalDepth = 954.638085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.100475 # Actual altitude: 51.100475 # Commanded vehicle depth:954.638085 # Seafloor depth:-1005.738560 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.40; 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 = 204.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 79.354907 meters # Minimum depth: 1005.772721 meters looking forward 100.000000 meters along route # Maximum depth: 1008.052511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.772721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778598; longitude = -122.013812; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 957.525368; finalDepth = 955.772721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.636123 # Actual altitude: 51.636123 # Commanded vehicle depth:955.772721 # Seafloor depth:-1007.408844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; 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 = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 79.354907 meters # Minimum depth: 1007.525368 meters looking forward 100.000000 meters along route # Maximum depth: 1008.296504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.525368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778528; longitude = -122.013551; captureRadius = 10; duration = 79; initialDepth = 957.411135; finalDepth = 957.525368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.636123 # Actual altitude: 51.636123 # Commanded vehicle depth:957.525368 # Seafloor depth:-1008.114075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.54; 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 = 206.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 79.354907 meters # Minimum depth: 1007.411135 meters looking forward 100.000000 meters along route # Maximum depth: 1007.952744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.411135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778303; longitude = -122.012711; captureRadius = 10; duration = 79; initialDepth = 956.276726; finalDepth = 957.411135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.588707 # Actual altitude: 50.588707 # Commanded vehicle depth:957.411135 # Seafloor depth:-1007.899583 # 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 32 # Segment length 79.354907 meters # Minimum depth: 1006.276726 meters looking forward 100.000000 meters along route # Maximum depth: 1007.952744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.276726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778088; longitude = -122.011909; captureRadius = 10; duration = 79; initialDepth = 955.265579; finalDepth = 956.276726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.671932 # Actual altitude: 51.671932 # Commanded vehicle depth:956.276726 # Seafloor depth:-1007.948658 # 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 32 # Segment length 79.354907 meters # Minimum depth: 1005.265579 meters looking forward 100.000000 meters along route # Maximum depth: 1006.405981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.265579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777867; longitude = -122.011086; captureRadius = 10; duration = 79; initialDepth = 955.076417; finalDepth = 955.265579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.671932 # Actual altitude: 51.671932 # Commanded vehicle depth:955.265579 # Seafloor depth:-1006.261117 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 to get to end of line 31 # Segment length 79.354907 meters # Minimum depth: 1005.076417 meters looking forward 100.000000 meters along route # Maximum depth: 1006.304700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 955.076417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777652; longitude = -122.010283; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 953.638253; finalDepth = 955.076417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.995538 # Actual altitude: 50.995538 # Commanded vehicle depth:955.076417 # Seafloor depth:-1005.222229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 79.354907 meters # Minimum depth: 1003.638253 meters looking forward 100.000000 meters along route # Maximum depth: 1005.442871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.638253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777592; longitude = -122.010200; captureRadius = 10; duration = 79; initialDepth = 952.305292; finalDepth = 953.638253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.226859 # Actual altitude: 51.226859 # Commanded vehicle depth:953.638253 # Seafloor depth:-1004.865112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.91; 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 = 204.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 79.354907 meters # Minimum depth: 1002.305292 meters looking forward 100.000000 meters along route # Maximum depth: 1003.743738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.305292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777138; longitude = -122.009574; captureRadius = 10; duration = 79; initialDepth = 947.732221; finalDepth = 952.305292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.325751 # Actual altitude: 51.325751 # Commanded vehicle depth:952.305292 # Seafloor depth:-1003.631043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.30; 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 = 205.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 79.354907 meters # Minimum depth: 997.732221 meters looking forward 100.000000 meters along route # Maximum depth: 1002.368255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.732221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776650; longitude = -122.008901; captureRadius = 10; duration = 79; initialDepth = 941.285658; finalDepth = 947.732221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.456185 # Actual altitude: 54.456185 # Commanded vehicle depth:947.732221 # Seafloor depth:-1002.188406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 79.354907 meters # Minimum depth: 991.285658 meters looking forward 100.000000 meters along route # Maximum depth: 999.476497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.285658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776195; longitude = -122.008274; captureRadius = 10; duration = 79; initialDepth = 937.212083; finalDepth = 941.285658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.295715 # Actual altitude: 56.295715 # Commanded vehicle depth:941.285658 # Seafloor depth:-997.581373 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 79.354907 meters # Minimum depth: 987.212083 meters looking forward 100.000000 meters along route # Maximum depth: 993.600745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.212083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775730; longitude = -122.007632; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 935.393469; finalDepth = 937.212083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.295715 # Actual altitude: 56.295715 # Commanded vehicle depth:937.212083 # Seafloor depth:-991.169937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 79.354907 meters # Minimum depth: 985.393469 meters looking forward 100.000000 meters along route # Maximum depth: 987.833664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.393469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775519; longitude = -122.006996; captureRadius = 10; duration = 79; initialDepth = 933.927729; finalDepth = 935.393469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.957854 # Actual altitude: 53.957854 # Commanded vehicle depth:935.393469 # Seafloor depth:-987.210231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 79.354907 meters # Minimum depth: 983.927729 meters looking forward 100.000000 meters along route # Maximum depth: 986.036929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.927729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775260; longitude = -122.006213; captureRadius = 10; duration = 79; initialDepth = 933.647951; finalDepth = 933.927729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.816762 # Actual altitude: 51.816762 # Commanded vehicle depth:933.927729 # Seafloor depth:-985.056115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.27; 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 = 207.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 79.354907 meters # Minimum depth: 983.647951 meters looking forward 100.000000 meters along route # Maximum depth: 984.466009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.647951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775000; longitude = -122.005428; captureRadius = 10; duration = 79; initialDepth = 931.169235; finalDepth = 933.647951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.128386 # Actual altitude: 51.128386 # Commanded vehicle depth:933.647951 # Seafloor depth:-984.044893 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.51; 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 = 204.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 79.354907 meters # Minimum depth: 981.169235 meters looking forward 100.000000 meters along route # Maximum depth: 984.458180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.169235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774740; longitude = -122.004644; captureRadius = 10; duration = 79; initialDepth = 930.907653; finalDepth = 931.169235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2039070000001 # Actual altitude: 52.2039070000001 # Commanded vehicle depth:931.169235 # Seafloor depth:-983.373142 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 79.354907 meters # Minimum depth: 980.907653 meters looking forward 100.000000 meters along route # Maximum depth: 982.710502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.907653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774468; longitude = -122.003822; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 930.932153; finalDepth = 930.907653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2039070000001 # Actual altitude: 52.2039070000001 # Commanded vehicle depth:930.907653 # Seafloor depth:-981.160645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 980.932153 meters looking forward 100.000000 meters along route # Maximum depth: 982.331562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.932153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774436; longitude = -122.003244; captureRadius = 10; duration = 79; initialDepth = 929.065966; finalDepth = 930.932153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.193077 # Actual altitude: 51.193077 # Commanded vehicle depth:930.932153 # Seafloor depth:-982.125230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.77; 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 = 204.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 979.065966 meters looking forward 100.000000 meters along route # Maximum depth: 981.048622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.065966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774390; longitude = -122.002403; captureRadius = 10; duration = 79; initialDepth = 924.696400; finalDepth = 929.065966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.579839 # Actual altitude: 51.579839 # Commanded vehicle depth:929.065966 # Seafloor depth:-980.645805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.32; 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 = 206.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 974.696400 meters looking forward 100.000000 meters along route # Maximum depth: 979.851314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.696400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774344; longitude = -122.001563; captureRadius = 10; duration = 79; initialDepth = 922.866520; finalDepth = 924.696400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.798094 # Actual altitude: 53.798094 # Commanded vehicle depth:924.6964 # Seafloor depth:-978.494494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 972.866520 meters looking forward 100.000000 meters along route # Maximum depth: 975.099532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.866520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774298; longitude = -122.000723; captureRadius = 10; duration = 79; initialDepth = 920.302298; finalDepth = 922.866520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.798094 # Actual altitude: 53.798094 # Commanded vehicle depth:922.86652 # Seafloor depth:-974.575859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 970.302298 meters looking forward 100.000000 meters along route # Maximum depth: 973.191279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.302298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774251; longitude = -121.999882; captureRadius = 10; duration = 79; initialDepth = 917.552046; finalDepth = 920.302298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.345957 # Actual altitude: 52.345957 # Commanded vehicle depth:920.302298 # Seafloor depth:-972.648255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 967.552046 meters looking forward 100.000000 meters along route # Maximum depth: 971.075001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.552046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774205; longitude = -121.999042; captureRadius = 10; duration = 79; initialDepth = 915.592808; finalDepth = 917.552046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5709409999999 # Actual altitude: 52.5709409999999 # Commanded vehicle depth:917.552046 # Seafloor depth:-970.122987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 965.592808 meters looking forward 100.000000 meters along route # Maximum depth: 968.244604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.592808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774159; longitude = -121.998202; captureRadius = 10; duration = 79; initialDepth = 914.313746; finalDepth = 915.592808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.5709409999999 # Actual altitude: 52.5709409999999 # Commanded vehicle depth:915.592808 # Seafloor depth:-967.384971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 964.313746 meters looking forward 100.000000 meters along route # Maximum depth: 966.003792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.313746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774113; longitude = -121.997362; captureRadius = 10; duration = 79; initialDepth = 912.055031; finalDepth = 914.313746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.792163 # Actual altitude: 51.792163 # Commanded vehicle depth:914.313746 # Seafloor depth:-965.869969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 962.055031 meters looking forward 100.000000 meters along route # Maximum depth: 964.638009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.055031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774067; longitude = -121.996521; captureRadius = 10; duration = 79; initialDepth = 906.495572; finalDepth = 912.055031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.062234 # Actual altitude: 52.062234 # Commanded vehicle depth:912.055031 # Seafloor depth:-964.117265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 79.354907 meters # Minimum depth: 956.495572 meters looking forward 100.000000 meters along route # Maximum depth: 962.485977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.495572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774020; longitude = -121.995681; captureRadius = 10; duration = 79; initialDepth = 906.391017; finalDepth = 906.495572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.391583 # Actual altitude: 55.391583 # Commanded vehicle depth:906.495572 # Seafloor depth:-961.887155 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 79.354907 meters # Minimum depth: 956.391017 meters looking forward 100.000000 meters along route # Maximum depth: 959.968972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.391017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773972; longitude = -121.994803; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 906.691717; finalDepth = 906.391017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.391583 # Actual altitude: 55.391583 # Commanded vehicle depth:906.391017 # Seafloor depth:-956.393173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 79.354907 meters # Minimum depth: 956.691717 meters looking forward 100.000000 meters along route # Maximum depth: 960.474061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.691717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774573; longitude = -121.994809; captureRadius = 10; duration = 79; initialDepth = 886.892156; finalDepth = 906.691717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.436642 # Actual altitude: 53.436642 # Commanded vehicle depth:906.691717 # Seafloor depth:-960.128359 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.37; MB_Bottom_Detect_Filter_Max_Range = 213.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 79.354907 meters # Minimum depth: 936.892156 meters looking forward 100.000000 meters along route # Maximum depth: 958.686350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.892156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775294; longitude = -121.994815; captureRadius = 10; duration = 79; initialDepth = 886.423813; finalDepth = 886.892156; 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: 69.039209 # Actual altitude: 69.039209 # Commanded vehicle depth:886.892156 # Seafloor depth:-955.931365 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 276.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 79.354907 meters # Minimum depth: 936.423813 meters looking forward 100.000000 meters along route # Maximum depth: 947.271055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.423813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.994822; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 893.613137; finalDepth = 886.423813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.039209 # Actual altitude: 69.039209 # Commanded vehicle depth:886.423813 # Seafloor depth:-936.423813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 276.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 79.354907 meters # Minimum depth: 943.613137 meters looking forward 100.000000 meters along route # Maximum depth: 956.467418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.613137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.995401; captureRadius = 10; duration = 79; initialDepth = 905.559377; finalDepth = 893.613137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7365599999999 # Actual altitude: 53.7365599999999 # Commanded vehicle depth:893.613137 # Seafloor depth:-947.349697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 79.354907 meters # Minimum depth: 955.559377 meters looking forward 100.000000 meters along route # Maximum depth: 959.192408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.559377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.996297; captureRadius = 10; duration = 79; initialDepth = 908.016755; finalDepth = 905.559377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7365599999999 # Actual altitude: 53.7365599999999 # Commanded vehicle depth:905.559377 # Seafloor depth:-957.008409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 79.354907 meters # Minimum depth: 958.016755 meters looking forward 100.000000 meters along route # Maximum depth: 959.071306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.016755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.997194; captureRadius = 10; duration = 79; initialDepth = 902.544675; finalDepth = 908.016755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.449032 # Actual altitude: 51.449032 # Commanded vehicle depth:908.016755 # Seafloor depth:-958.150889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.80; 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 = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 79.354907 meters # Minimum depth: 952.544675 meters looking forward 100.000000 meters along route # Maximum depth: 958.815203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.544675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.998090; captureRadius = 10; duration = 79; initialDepth = 900.725122; finalDepth = 902.544675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.839167 # Actual altitude: 55.839167 # Commanded vehicle depth:902.544675 # Seafloor depth:-958.383842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.36; 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 = 223.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 79.354907 meters # Minimum depth: 950.725122 meters looking forward 100.000000 meters along route # Maximum depth: 955.168057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.725122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.998986; captureRadius = 10; duration = 79; initialDepth = 900.533837; finalDepth = 900.725122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.839167 # Actual altitude: 55.839167 # Commanded vehicle depth:900.725122 # Seafloor depth:-951.808838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.36; 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 = 223.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 79.354907 meters # Minimum depth: 950.533837 meters looking forward 100.000000 meters along route # Maximum depth: 951.660978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.533837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -121.999882; captureRadius = 10; duration = 79; initialDepth = 896.422462; finalDepth = 900.533837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.083716 # Actual altitude: 51.083716 # Commanded vehicle depth:900.533837 # Seafloor depth:-951.580020 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.33; 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 = 204.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 79.354907 meters # Minimum depth: 946.422462 meters looking forward 100.000000 meters along route # Maximum depth: 950.828158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.422462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775985; longitude = -122.000760; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 890.611513; finalDepth = 896.422462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.858284 # Actual altitude: 53.858284 # Commanded vehicle depth:896.422462 # Seafloor depth:-950.280746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.43; 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 = 215.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 79.354907 meters # Minimum depth: 940.611513 meters looking forward 100.000000 meters along route # Maximum depth: 947.653116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.611513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776153; longitude = -122.001563; captureRadius = 10; duration = 79; initialDepth = 887.114191; finalDepth = 890.611513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7779260000001 # Actual altitude: 55.7779260000001 # Commanded vehicle depth:890.611513 # Seafloor depth:-946.389439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 79.354907 meters # Minimum depth: 937.114191 meters looking forward 100.000000 meters along route # Maximum depth: 941.779618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.114191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776330; longitude = -122.002411; captureRadius = 10; duration = 79; initialDepth = 884.490203; finalDepth = 887.114191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7779260000001 # Actual altitude: 55.7779260000001 # Commanded vehicle depth:887.114191 # Seafloor depth:-940.590444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 79.354907 meters # Minimum depth: 934.490203 meters looking forward 100.000000 meters along route # Maximum depth: 938.340229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.490203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776505; longitude = -122.003244; captureRadius = 10; duration = 79; initialDepth = 884.097493; finalDepth = 884.490203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.476253 # Actual altitude: 53.476253 # Commanded vehicle depth:884.490203 # Seafloor depth:-936.502249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.91; 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 = 213.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 79.354907 meters # Minimum depth: 934.097493 meters looking forward 100.000000 meters along route # Maximum depth: 938.894622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.097493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776680; longitude = -122.004084; captureRadius = 10; duration = 79; initialDepth = 886.324041; finalDepth = 884.097493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0120460000001 # Actual altitude: 52.0120460000001 # Commanded vehicle depth:884.097493 # Seafloor depth:-934.206613 # 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 26 # Segment length 79.354907 meters # Minimum depth: 936.324041 meters looking forward 100.000000 meters along route # Maximum depth: 949.415409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.324041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776856; longitude = -122.004924; captureRadius = 10; duration = 79; initialDepth = 890.209815; finalDepth = 886.324041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.8857740000001 # Actual altitude: 53.8857740000001 # Commanded vehicle depth:886.324041 # Seafloor depth:-940.209815 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.54; 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 = 215.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 79.354907 meters # Minimum depth: 940.209815 meters looking forward 100.000000 meters along route # Maximum depth: 949.776276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.209815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777036; longitude = -122.005783; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 895.682744; finalDepth = 890.209815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.566461 # Actual altitude: 59.566461 # Commanded vehicle depth:890.209815 # Seafloor depth:-949.776276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 79.354907 meters # Minimum depth: 949.130092 meters looking forward 100.000000 meters along route # Maximum depth: 961.730385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.682744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777148; longitude = -122.005932; captureRadius = 10; duration = 79; initialDepth = 908.559895; finalDepth = 895.682744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.566461 # Actual altitude: 59.566461 # Commanded vehicle depth:895.6827444 # Seafloor depth:-949.413248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 79.354907 meters # Minimum depth: 958.559895 meters looking forward 100.000000 meters along route # Maximum depth: 971.276564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.559895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777610; longitude = -122.006549; captureRadius = 10; duration = 79; initialDepth = 920.039423; finalDepth = 908.559895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7305035999997 # Actual altitude: 53.7305035999997 # Commanded vehicle depth:908.559895 # Seafloor depth:-962.245256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 79.354907 meters # Minimum depth: 970.039423 meters looking forward 100.000000 meters along route # Maximum depth: 978.962941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.039423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778073; longitude = -122.007165; captureRadius = 10; duration = 79; initialDepth = 927.661477; finalDepth = 920.039423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6853610000001 # Actual altitude: 53.6853610000001 # Commanded vehicle depth:920.039423 # Seafloor depth:-971.644019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.74; 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 = 214.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 79.354907 meters # Minimum depth: 977.661477 meters looking forward 100.000000 meters along route # Maximum depth: 990.962660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.661477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778535; longitude = -122.007781; captureRadius = 10; duration = 79; initialDepth = 938.486305; finalDepth = 927.661477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.651064 # Actual altitude: 51.651064 # Commanded vehicle depth:927.661477 # Seafloor depth:-979.312541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 79.354907 meters # Minimum depth: 988.486305 meters looking forward 100.000000 meters along route # Maximum depth: 996.953705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.486305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778997; longitude = -122.008397; captureRadius = 10; duration = 79; initialDepth = 946.154942; finalDepth = 938.486305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.606163 # Actual altitude: 52.606163 # Commanded vehicle depth:938.486305 # Seafloor depth:-991.092468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 79.354907 meters # Minimum depth: 996.154942 meters looking forward 100.000000 meters along route # Maximum depth: 997.154971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.154942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779485; longitude = -122.009047; captureRadius = 10; duration = 79; initialDepth = 944.279526; finalDepth = 946.154942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.606163 # Actual altitude: 52.606163 # Commanded vehicle depth:946.154942 # Seafloor depth:-997.091767 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 79.354907 meters # Minimum depth: 994.279526 meters looking forward 100.000000 meters along route # Maximum depth: 997.154971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.279526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779950; longitude = -122.009667; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 933.253354; finalDepth = 944.279526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1953579999999 # Actual altitude: 52.1953579999999 # Commanded vehicle depth:944.279526 # Seafloor depth:-996.474884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 79.354907 meters # Minimum depth: 983.253354 meters looking forward 100.000000 meters along route # Maximum depth: 996.842342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.253354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780043; longitude = -122.009518; captureRadius = 10; duration = 79; initialDepth = 926.418302; finalDepth = 933.253354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.549348 # Actual altitude: 60.549348 # Commanded vehicle depth:933.253354 # Seafloor depth:-993.802702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 79.354907 meters # Minimum depth: 976.418302 meters looking forward 100.000000 meters along route # Maximum depth: 985.806104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.418302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780460; longitude = -122.008845; captureRadius = 10; duration = 79; initialDepth = 918.876332; finalDepth = 926.418302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.549348 # Actual altitude: 60.549348 # Commanded vehicle depth:926.418302 # Seafloor depth:-982.560314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 79.354907 meters # Minimum depth: 968.876332 meters looking forward 100.000000 meters along route # Maximum depth: 976.947465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.876332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780882; longitude = -122.008166; captureRadius = 10; duration = 79; initialDepth = 918.596848; finalDepth = 918.876332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.535804 # Actual altitude: 57.535804 # Commanded vehicle depth:918.876332 # Seafloor depth:-976.412136 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.14; 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 23 # Segment length 79.354907 meters # Minimum depth: 968.596848 meters looking forward 100.000000 meters along route # Maximum depth: 975.192346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 918.596848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781317; longitude = -122.007464; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 920.976458; finalDepth = 918.596848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.535804 # Actual altitude: 57.535804 # Commanded vehicle depth:918.596848 # Seafloor depth:-968.596848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.01; MB_Bottom_Detect_Filter_Max_Range = 230.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 79.354907 meters # Minimum depth: 970.976458 meters looking forward 100.000000 meters along route # Maximum depth: 973.820993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.976458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781113; longitude = -122.007109; captureRadius = 10; duration = 79; initialDepth = 920.766388; finalDepth = 920.976458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 52.249111 # Actual altitude: 52.249111 # Commanded vehicle depth:920.976458 # Seafloor depth:-973.225569 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.00; 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 = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 79.354907 meters # Minimum depth: 970.766388 meters looking forward 100.000000 meters along route # Maximum depth: 974.814416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.766388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780716; longitude = -122.006418; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 923.989727; finalDepth = 920.766388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.249111 # Actual altitude: 52.249111 # Commanded vehicle depth:920.766388 # Seafloor depth:-970.766388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.00; 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 = 209.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 79.354907 meters # Minimum depth: 973.989727 meters looking forward 100.000000 meters along route # Maximum depth: 979.732351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.989727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780295; longitude = -122.006941; captureRadius = 10; duration = 79; initialDepth = 928.811581; finalDepth = 923.989727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.827983 # Actual altitude: 50.827983 # Commanded vehicle depth:923.989727 # Seafloor depth:-974.817710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 79.354907 meters # Minimum depth: 978.811581 meters looking forward 100.000000 meters along route # Maximum depth: 987.866916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.811581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779800; longitude = -122.007557; captureRadius = 10; duration = 79; initialDepth = 931.763360; finalDepth = 928.811581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9231249999999 # Actual altitude: 50.9231249999999 # Commanded vehicle depth:928.811581 # Seafloor depth:-979.734706 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.69; 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 = 203.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.69; 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 21 # Segment length 79.354907 meters # Minimum depth: 981.763360 meters looking forward 100.000000 meters along route # Maximum depth: 992.069490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.763360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779289; longitude = -122.008192; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 940.624630; finalDepth = 931.763360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.4398259999999 # Actual altitude: 56.4398259999999 # Commanded vehicle depth:931.76336 # Seafloor depth:-988.203186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 79.354907 meters # Minimum depth: 990.624630 meters looking forward 100.000000 meters along route # Maximum depth: 996.472641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.624630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779458; longitude = -122.008621; captureRadius = 10; duration = 79; initialDepth = 945.429360; finalDepth = 940.624630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.4398259999999 # Actual altitude: 56.4398259999999 # Commanded vehicle depth:940.62463 # Seafloor depth:-992.617378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 79.354907 meters # Minimum depth: 995.429360 meters looking forward 100.000000 meters along route # Maximum depth: 1000.920281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.429360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779767; longitude = -122.009406; captureRadius = 10; duration = 79; initialDepth = 949.797711; finalDepth = 945.429360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.992748 # Actual altitude: 51.992748 # Commanded vehicle depth:945.42936 # Seafloor depth:-996.666124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.97; 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 = 207.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 79.354907 meters # Minimum depth: 999.797711 meters looking forward 100.000000 meters along route # Maximum depth: 1003.688357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.797711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780070; longitude = -122.010175; captureRadius = 10; duration = 79; initialDepth = 953.019686; finalDepth = 949.797711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.351375 # Actual altitude: 51.351375 # Commanded vehicle depth:949.797711 # Seafloor depth:-1001.149086 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.41; 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 = 205.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 79.354907 meters # Minimum depth: 1003.019686 meters looking forward 100.000000 meters along route # Maximum depth: 1005.482515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.019686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780371; longitude = -122.010937; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 954.391248; finalDepth = 953.019686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.351375 # Actual altitude: 51.351375 # Commanded vehicle depth:953.019686 # Seafloor depth:-1003.766327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.41; 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 = 205.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 79.354907 meters # Minimum depth: 1004.391248 meters looking forward 100.000000 meters along route # Maximum depth: 1006.922225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.391248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780579; longitude = -122.011422; captureRadius = 10; duration = 79; initialDepth = 953.623380; finalDepth = 954.391248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.280202 # Actual altitude: 51.280202 # Commanded vehicle depth:954.391248 # Seafloor depth:-1005.671450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.12; 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 = 205.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 79.354907 meters # Minimum depth: 1003.623380 meters looking forward 100.000000 meters along route # Maximum depth: 1005.459111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.623380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780914; longitude = -122.012207; captureRadius = 10; duration = 79; initialDepth = 953.483820; finalDepth = 953.623380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.69784 # Actual altitude: 51.69784 # Commanded vehicle depth:953.62338 # Seafloor depth:-1005.321220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.79; 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 = 206.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 79.354907 meters # Minimum depth: 1003.483820 meters looking forward 100.000000 meters along route # Maximum depth: 1004.678640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.483820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781242; longitude = -122.012974; captureRadius = 10; duration = 79; initialDepth = 953.483820; finalDepth = 953.483820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.69784 # Actual altitude: 51.69784 # Commanded vehicle depth:953.48382 # Seafloor depth:-1004.454741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.79; 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 = 206.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 79.354907 meters # Minimum depth: 1003.483820 meters looking forward 100.000000 meters along route # Maximum depth: 1012.242302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.483820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781561; longitude = -122.013719; captureRadius = 10; duration = 79; initialDepth = 958.514295; finalDepth = 953.483820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.970921 # Actual altitude: 50.970921 # Commanded vehicle depth:953.48382 # Seafloor depth:-1003.774552 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 79.354907 meters # Minimum depth: 1008.514295 meters looking forward 100.000000 meters along route # Maximum depth: 1016.608132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.514295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781888; longitude = -122.014485; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 965.183221; finalDepth = 958.514295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.617877 # Actual altitude: 53.617877 # Commanded vehicle depth:958.514295 # Seafloor depth:-1012.132172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 79.354907 meters # Minimum depth: 1015.183221 meters looking forward 100.000000 meters along route # Maximum depth: 1019.564865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.183221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782233; longitude = -122.015090; captureRadius = 10; duration = 79; initialDepth = 969.171403; finalDepth = 965.183221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.617877 # Actual altitude: 53.617877 # Commanded vehicle depth:965.183221 # Seafloor depth:-1016.768000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 214.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 79.354907 meters # Minimum depth: 1019.171403 meters looking forward 100.000000 meters along route # Maximum depth: 1020.193524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 969.171403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782639; longitude = -122.015800; captureRadius = 10; duration = 79; initialDepth = 970.027061; finalDepth = 969.171403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.584779 # Actual altitude: 51.584779 # Commanded vehicle depth:969.171403 # Seafloor depth:-1019.572671 # 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 19 # Segment length 79.354907 meters # Minimum depth: 1020.027061 meters looking forward 100.000000 meters along route # Maximum depth: 1022.731711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.027061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783050; longitude = -122.016520; captureRadius = 10; duration = 79; initialDepth = 972.318433; finalDepth = 970.027061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.401268 # Actual altitude: 50.401268 # Commanded vehicle depth:970.027061 # Seafloor depth:-1020.170660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 79.354907 meters # Minimum depth: 1022.318433 meters looking forward 100.000000 meters along route # Maximum depth: 1023.248632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.318433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783466; longitude = -122.017248; captureRadius = 10; duration = 79; initialDepth = 972.871223; finalDepth = 972.318433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.481506 # Actual altitude: 50.481506 # Commanded vehicle depth:972.318433 # Seafloor depth:-1022.799939 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; 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 = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 79.354907 meters # Minimum depth: 1022.871223 meters looking forward 100.000000 meters along route # Maximum depth: 1023.393479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.871223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783871; longitude = -122.017958; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 972.949733; finalDepth = 972.871223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.481506 # Actual altitude: 50.481506 # Commanded vehicle depth:972.871223 # Seafloor depth:-1022.878830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.93; 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 = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 79.354907 meters # Minimum depth: 1022.949733 meters looking forward 100.000000 meters along route # Maximum depth: 1026.334733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.949733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783931; longitude = -122.018313; captureRadius = 10; duration = 79; initialDepth = 974.903173; finalDepth = 972.949733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0959779999999 # Actual altitude: 50.0959779999999 # Commanded vehicle depth:972.949733 # Seafloor depth:-1023.045711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 79.354907 meters # Minimum depth: 1024.903173 meters looking forward 100.000000 meters along route # Maximum depth: 1031.080577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.903173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784072; longitude = -122.019153; captureRadius = 10; duration = 79; initialDepth = 980.047030; finalDepth = 974.903173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8329780000001 # Actual altitude: 51.8329780000001 # Commanded vehicle depth:974.903173 # Seafloor depth:-1026.736151 # 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 18 # Segment length 79.354907 meters # Minimum depth: 1030.047030 meters looking forward 100.000000 meters along route # Maximum depth: 1033.128876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.047030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784216; longitude = -122.020011; captureRadius = 10; duration = 79; initialDepth = 982.605269; finalDepth = 980.047030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8329780000001 # Actual altitude: 51.8329780000001 # Commanded vehicle depth:980.04703 # Seafloor depth:-1031.122742 # 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 18 # Segment length 79.354907 meters # Minimum depth: 1032.605269 meters looking forward 100.000000 meters along route # Maximum depth: 1036.914242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.605269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784354; longitude = -122.020833; captureRadius = 10; duration = 79; initialDepth = 983.831478; finalDepth = 982.605269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0757120000001 # Actual altitude: 51.0757120000001 # Commanded vehicle depth:982.605269 # Seafloor depth:-1033.176932 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.30; 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 = 204.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 79.354907 meters # Minimum depth: 1033.831478 meters looking forward 100.000000 meters along route # Maximum depth: 1040.187639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.831478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784502; longitude = -122.021711; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 989.527351; finalDepth = 983.831478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1639749999999 # Actual altitude: 53.1639749999999 # Commanded vehicle depth:983.831478 # Seafloor depth:-1036.995453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; 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 = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 79.354907 meters # Minimum depth: 1039.527351 meters looking forward 100.000000 meters along route # Maximum depth: 1042.974172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.527351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784489; longitude = -122.022234; captureRadius = 10; duration = 79; initialDepth = 992.406103; finalDepth = 989.527351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1639749999999 # Actual altitude: 53.1639749999999 # Commanded vehicle depth:989.527351 # Seafloor depth:-1040.381571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; 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 = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 79.354907 meters # Minimum depth: 1042.406103 meters looking forward 100.000000 meters along route # Maximum depth: 1044.553408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.406103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784468; longitude = -122.023074; captureRadius = 10; duration = 79; initialDepth = 993.760892; finalDepth = 992.406103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8542199999999 # Actual altitude: 50.8542199999999 # Commanded vehicle depth:992.406103 # Seafloor depth:-1043.255066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.42; 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 = 203.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 79.354907 meters # Minimum depth: 1043.760892 meters looking forward 100.000000 meters along route # Maximum depth: 1050.190009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.760892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784447; longitude = -122.023914; captureRadius = 10; duration = 79; initialDepth = 996.790297; finalDepth = 993.760892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.041266 # Actual altitude: 51.041266 # Commanded vehicle depth:993.760892 # Seafloor depth:-1044.802158 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 79.354907 meters # Minimum depth: 1046.790297 meters looking forward 100.000000 meters along route # Maximum depth: 1052.719570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.790297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784426; longitude = -122.024773; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1001.038826; finalDepth = 996.790297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.473802 # Actual altitude: 53.473802 # Commanded vehicle depth:996.790297 # Seafloor depth:-1050.264099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.90; 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 = 213.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 79.354907 meters # Minimum depth: 1051.038826 meters looking forward 100.000000 meters along route # Maximum depth: 1054.757124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.038826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784306; longitude = -122.025266; captureRadius = 10; duration = 79; initialDepth = 1001.800018; finalDepth = 1001.038826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.473802 # Actual altitude: 53.473802 # Commanded vehicle depth:1001.038826 # Seafloor depth:-1052.780885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.90; 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 = 213.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 79.354907 meters # Minimum depth: 1051.800018 meters looking forward 100.000000 meters along route # Maximum depth: 1054.579387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.800018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.784104; longitude = -122.026099; captureRadius = 10; duration = 79; initialDepth = 999.747441; finalDepth = 1001.800018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.820332 # Actual altitude: 51.820332 # Commanded vehicle depth:1001.800018 # Seafloor depth:-1053.620350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.28; 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 = 207.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 79.354907 meters # Minimum depth: 1049.747441 meters looking forward 100.000000 meters along route # Maximum depth: 1052.493982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.747441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783901; longitude = -122.026936; captureRadius = 10; duration = 79; initialDepth = 999.747441; finalDepth = 999.747441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.330019 # Actual altitude: 52.330019 # Commanded vehicle depth:999.747441 # Seafloor depth:-1052.077460 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.32; 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 = 209.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 79.354907 meters # Minimum depth: 1049.747441 meters looking forward 100.000000 meters along route # Maximum depth: 1053.501427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.747441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783705; longitude = -122.027742; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1000.727616; finalDepth = 999.747441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.330019 # Actual altitude: 52.330019 # Commanded vehicle depth:999.747441 # Seafloor depth:-1050.015594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.32; 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 = 209.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1050.727616 meters looking forward 100.000000 meters along route # Maximum depth: 1059.000593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.727616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783569; longitude = -122.027948; captureRadius = 10; duration = 79; initialDepth = 1008.209289; finalDepth = 1000.727616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9730120000002 # Actual altitude: 52.9730120000002 # Commanded vehicle depth:1000.727616 # Seafloor depth:-1053.700628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.89; 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 = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1058.209289 meters looking forward 100.000000 meters along route # Maximum depth: 1064.247395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.209289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.783126; longitude = -122.028620; captureRadius = 10; duration = 79; initialDepth = 1012.848244; finalDepth = 1008.209289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9730120000002 # Actual altitude: 52.9730120000002 # Commanded vehicle depth:1008.209289 # Seafloor depth:-1059.055255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.89; 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 = 211.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1062.848244 meters looking forward 100.000000 meters along route # Maximum depth: 1065.181116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.848244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782682; longitude = -122.029292; captureRadius = 10; duration = 79; initialDepth = 1013.696073; finalDepth = 1012.848244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.419682 # Actual altitude: 51.419682 # Commanded vehicle depth:1012.848244 # Seafloor depth:-1064.267926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1063.696073 meters looking forward 100.000000 meters along route # Maximum depth: 1065.827333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.696073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.782233; longitude = -122.029973; captureRadius = 10; duration = 79; initialDepth = 1014.729415; finalDepth = 1013.696073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.419682 # Actual altitude: 51.419682 # Commanded vehicle depth:1013.696073 # Seafloor depth:-1064.001866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1064.729415 meters looking forward 100.000000 meters along route # Maximum depth: 1075.221990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.729415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781783; longitude = -122.030656; captureRadius = 10; duration = 79; initialDepth = 1023.403927; finalDepth = 1014.729415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.184352 # Actual altitude: 51.184352 # Commanded vehicle depth:1014.729415 # Seafloor depth:-1065.913767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1073.403927 meters looking forward 100.000000 meters along route # Maximum depth: 1076.087373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.403927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.781352; longitude = -122.031309; captureRadius = 10; duration = 79; initialDepth = 1025.590956; finalDepth = 1023.403927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.059671 # Actual altitude: 52.059671 # Commanded vehicle depth:1023.403927 # Seafloor depth:-1075.463598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1075.590956 meters looking forward 100.000000 meters along route # Maximum depth: 1077.274700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1025.590956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780909; longitude = -122.031981; captureRadius = 10; duration = 79; initialDepth = 1023.521454; finalDepth = 1025.590956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.059671 # Actual altitude: 52.059671 # Commanded vehicle depth:1025.590956 # Seafloor depth:-1076.043801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1073.521454 meters looking forward 100.000000 meters along route # Maximum depth: 1076.957293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.521454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780466; longitude = -122.032653; captureRadius = 10; duration = 79; initialDepth = 1009.538541; finalDepth = 1023.521454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6568090000001 # Actual altitude: 52.6568090000001 # Commanded vehicle depth:1023.521454 # Seafloor depth:-1076.178263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1059.538541 meters looking forward 100.000000 meters along route # Maximum depth: 1074.393817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1009.538541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.780022; longitude = -122.033326; captureRadius = 10; duration = 79; initialDepth = 1001.805302; finalDepth = 1009.538541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.9315450000001 # Actual altitude: 63.9315450000001 # Commanded vehicle depth:1009.538541 # Seafloor depth:-1073.470086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 255.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1051.805302 meters looking forward 100.000000 meters along route # Maximum depth: 1063.866422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.805302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779575; longitude = -122.034004; captureRadius = 10; duration = 79; initialDepth = 1001.160716; finalDepth = 1001.805302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.9315450000001 # Actual altitude: 63.9315450000001 # Commanded vehicle depth:1001.805302 # Seafloor depth:-1059.369034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 255.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1051.160716 meters looking forward 100.000000 meters along route # Maximum depth: 1053.165369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.160716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.779124; longitude = -122.034687; captureRadius = 10; duration = 79; initialDepth = 1001.906667; finalDepth = 1001.160716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5637320000001 # Actual altitude: 57.5637320000001 # Commanded vehicle depth:1001.160716 # Seafloor depth:-1051.744167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1051.906667 meters looking forward 100.000000 meters along route # Maximum depth: 1069.425021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.906667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778692; longitude = -122.035342; captureRadius = 10; duration = 79; initialDepth = 1013.664836; finalDepth = 1001.906667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.771426 # Actual altitude: 51.771426 # Commanded vehicle depth:1001.906667 # Seafloor depth:-1053.678093 # 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 15 # Segment length 79.354907 meters # Minimum depth: 1063.664836 meters looking forward 100.000000 meters along route # Maximum depth: 1091.677628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.664836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.778249; longitude = -122.036014; captureRadius = 10; duration = 79; initialDepth = 1036.938529; finalDepth = 1013.664836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.248376 # Actual altitude: 57.248376 # Commanded vehicle depth:1013.664836 # Seafloor depth:-1070.913212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 228.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1089.057652 meters looking forward 100.000000 meters along route # Maximum depth: 1093.364036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.938529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777805; longitude = -122.036687; captureRadius = 10; duration = 79; initialDepth = 1041.805593; finalDepth = 1036.938529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.248376 # Actual altitude: 57.248376 # Commanded vehicle depth:1036.9385285 # Seafloor depth:-1091.859372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 228.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 79.354907 meters # Minimum depth: 1091.805593 meters looking forward 100.000000 meters along route # Maximum depth: 1093.172855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.805593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.777362; longitude = -122.037359; captureRadius = 10; duration = 79; initialDepth = 1041.624237; finalDepth = 1041.805593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9208434999998 # Actual altitude: 54.9208434999998 # Commanded vehicle depth:1041.805593 # Seafloor depth:-1092.945201 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.68; 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 = 219.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 79.354907 meters # Minimum depth: 1091.624237 meters looking forward 100.000000 meters along route # Maximum depth: 1093.104024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.624237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776931; longitude = -122.038012; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1041.624237; finalDepth = 1041.624237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.139608 # Actual altitude: 51.139608 # Commanded vehicle depth:1041.624237 # Seafloor depth:-1091.624237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1091.624237 meters looking forward 100.000000 meters along route # Maximum depth: 1093.048319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.624237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776916; longitude = -122.038018; captureRadius = 10; duration = 79; initialDepth = 1042.762553; finalDepth = 1041.624237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.027251 # Actual altitude: 50.027251 # Commanded vehicle depth:1041.624237 # Seafloor depth:-1091.651488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1092.762553 meters looking forward 100.000000 meters along route # Maximum depth: 1099.533268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1042.762553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.776240; longitude = -122.038280; captureRadius = 10; duration = 79; initialDepth = 1046.075760; finalDepth = 1042.762553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3987549999999 # Actual altitude: 50.3987549999999 # Commanded vehicle depth:1042.762553 # Seafloor depth:-1093.161308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1096.075760 meters looking forward 100.000000 meters along route # Maximum depth: 1106.068009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.075760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.775580; longitude = -122.038535; captureRadius = 10; duration = 79; initialDepth = 1055.177643; finalDepth = 1046.075760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.876303 # Actual altitude: 53.876303 # Commanded vehicle depth:1046.07576 # Seafloor depth:-1099.952063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.51; 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 = 215.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1105.177643 meters looking forward 100.000000 meters along route # Maximum depth: 1109.155605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.177643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774933; longitude = -122.038786; captureRadius = 10; duration = 79; initialDepth = 1058.895863; finalDepth = 1055.177643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.876303 # Actual altitude: 53.876303 # Commanded vehicle depth:1055.177643 # Seafloor depth:-1106.311579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.51; 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 = 215.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1108.895863 meters looking forward 100.000000 meters along route # Maximum depth: 1113.001599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.895863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.774279; longitude = -122.039039; captureRadius = 10; duration = 79; initialDepth = 1061.959805; finalDepth = 1058.895863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1339359999999 # Actual altitude: 51.1339359999999 # Commanded vehicle depth:1058.895863 # Seafloor depth:-1109.133232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.54; 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 = 204.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1111.959805 meters looking forward 100.000000 meters along route # Maximum depth: 1116.304135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.959805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.773627; longitude = -122.039292; captureRadius = 10; duration = 79; initialDepth = 1065.839884; finalDepth = 1061.959805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3676970000001 # Actual altitude: 51.3676970000001 # Commanded vehicle depth:1061.959805 # Seafloor depth:-1113.327502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1115.839884 meters looking forward 100.000000 meters along route # Maximum depth: 1118.944578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.839884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772951; longitude = -122.039554; captureRadius = 10; duration = 79; initialDepth = 1068.623218; finalDepth = 1065.839884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3676970000001 # Actual altitude: 51.3676970000001 # Commanded vehicle depth:1065.839884 # Seafloor depth:-1116.445045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 79.354907 meters # Minimum depth: 1118.623218 meters looking forward 100.000000 meters along route # Maximum depth: 1126.262462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.623218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.772275; longitude = -122.039816; captureRadius = 10; duration = 79; initialDepth = 1071.017865; finalDepth = 1068.623218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.605161 # Actual altitude: 50.605161 # Commanded vehicle depth:1068.623218 # Seafloor depth:-1119.178716 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 to get to end of line 13 # Segment length 79.354907 meters # Minimum depth: 1121.017865 meters looking forward 100.000000 meters along route # Maximum depth: 1127.671755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.017865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771629; longitude = -122.040066; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1077.081384; finalDepth = 1071.017865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.388751 # Actual altitude: 55.388751 # Commanded vehicle depth:1071.017865 # Seafloor depth:-1126.406616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 79.354907 meters # Minimum depth: 1127.081384 meters looking forward 100.000000 meters along route # Maximum depth: 1128.983835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.081384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.771238; longitude = -122.040115; captureRadius = 10; duration = 79; initialDepth = 1078.494075; finalDepth = 1077.081384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.388751 # Actual altitude: 55.388751 # Commanded vehicle depth:1077.081384 # Seafloor depth:-1127.821146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 79.354907 meters # Minimum depth: 1128.494075 meters looking forward 100.000000 meters along route # Maximum depth: 1129.961334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.494075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.770563; longitude = -122.040200; captureRadius = 10; duration = 79; initialDepth = 1079.158718; finalDepth = 1078.494075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7397619999999 # Actual altitude: 50.7397619999999 # Commanded vehicle depth:1078.494075 # Seafloor depth:-1128.610206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.96; 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 = 202.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 79.354907 meters # Minimum depth: 1129.158718 meters looking forward 100.000000 meters along route # Maximum depth: 1135.258557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.158718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769887; longitude = -122.040285; captureRadius = 10; duration = 79; initialDepth = 1083.949403; finalDepth = 1079.158718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.107737 # Actual altitude: 51.107737 # Commanded vehicle depth:1079.158718 # Seafloor depth:-1130.266455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.43; 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 = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 79.354907 meters # Minimum depth: 1133.949403 meters looking forward 100.000000 meters along route # Maximum depth: 1138.881955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1083.949403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.769211; longitude = -122.040369; captureRadius = 10; duration = 79; initialDepth = 1088.411970; finalDepth = 1083.949403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7255459999999 # Actual altitude: 51.7255459999999 # Commanded vehicle depth:1083.949403 # Seafloor depth:-1135.674949 # 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 13 # Segment length 79.354907 meters # Minimum depth: 1138.411970 meters looking forward 100.000000 meters along route # Maximum depth: 1142.013046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.411970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.768535; longitude = -122.040454; captureRadius = 10; duration = 79; initialDepth = 1090.367975; finalDepth = 1088.411970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7255459999999 # Actual altitude: 51.7255459999999 # Commanded vehicle depth:1088.41197 # Seafloor depth:-1138.864426 # 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 13 # Segment length 79.354907 meters # Minimum depth: 1140.367975 meters looking forward 100.000000 meters along route # Maximum depth: 1142.206803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.367975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767859; longitude = -122.040539; captureRadius = 10; duration = 79; initialDepth = 1090.417297; finalDepth = 1090.367975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7432820000001 # Actual altitude: 51.7432820000001 # Commanded vehicle depth:1090.367975 # Seafloor depth:-1142.111257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 79.354907 meters # Minimum depth: 1140.417297 meters looking forward 100.000000 meters along route # Maximum depth: 1142.017641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1090.417297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.767183; longitude = -122.040624; captureRadius = 10; duration = 79; initialDepth = 1089.375651; finalDepth = 1090.417297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7432820000001 # Actual altitude: 51.7432820000001 # Commanded vehicle depth:1090.417297 # Seafloor depth:-1141.866508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 79.354907 meters # Minimum depth: 1139.375651 meters looking forward 100.000000 meters along route # Maximum depth: 1141.156408 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.375651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.766507; longitude = -122.040708; captureRadius = 10; duration = 79; initialDepth = 1089.174438; finalDepth = 1089.375651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7442549999998 # Actual altitude: 51.7442549999998 # Commanded vehicle depth:1089.375651 # Seafloor depth:-1141.119906 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 79.354907 meters # Minimum depth: 1139.174438 meters looking forward 100.000000 meters along route # Maximum depth: 1145.171946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1089.174438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765816; longitude = -122.040795; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1094.064608; finalDepth = 1089.174438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7442549999998 # Actual altitude: 51.7442549999998 # Commanded vehicle depth:1089.174438 # Seafloor depth:-1139.174438 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 79.354907 meters # Minimum depth: 1144.064608 meters looking forward 100.000000 meters along route # Maximum depth: 1150.426570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1094.064608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.765186; longitude = -122.040608; captureRadius = 10; duration = 79; initialDepth = 1099.530336; finalDepth = 1094.064608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.185727 # Actual altitude: 51.185727 # Commanded vehicle depth:1094.064608 # Seafloor depth:-1145.250335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 79.354907 meters # Minimum depth: 1149.530336 meters looking forward 100.000000 meters along route # Maximum depth: 1154.413561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.530336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.764524; longitude = -122.040412; captureRadius = 10; duration = 79; initialDepth = 1103.177616; finalDepth = 1099.530336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.185727 # Actual altitude: 51.185727 # Commanded vehicle depth:1099.530336 # Seafloor depth:-1150.596633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 79.354907 meters # Minimum depth: 1153.177616 meters looking forward 100.000000 meters along route # Maximum depth: 1158.375963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1103.177616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763848; longitude = -122.040211; captureRadius = 10; duration = 79; initialDepth = 1107.762344; finalDepth = 1103.177616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.29936 # Actual altitude: 51.29936 # Commanded vehicle depth:1103.177616 # Seafloor depth:-1154.476976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.20; 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 = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 79.354907 meters # Minimum depth: 1157.762344 meters looking forward 100.000000 meters along route # Maximum depth: 1159.718664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.762344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.763172; longitude = -122.040010; captureRadius = 10; duration = 79; initialDepth = 1109.486107; finalDepth = 1107.762344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.29936 # Actual altitude: 51.29936 # Commanded vehicle depth:1107.762344 # Seafloor depth:-1158.506084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.20; 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 = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 79.354907 meters # Minimum depth: 1159.486107 meters looking forward 100.000000 meters along route # Maximum depth: 1161.115569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.486107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.762497; longitude = -122.039810; captureRadius = 10; duration = 79; initialDepth = 1111.012670; finalDepth = 1109.486107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7437400000001 # Actual altitude: 50.7437400000001 # Commanded vehicle depth:1109.486107 # Seafloor depth:-1159.486107 # 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 12 # Segment length 79.354907 meters # Minimum depth: 1161.012670 meters looking forward 100.000000 meters along route # Maximum depth: 1162.043223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.012670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761821; longitude = -122.039609; captureRadius = 10; duration = 79; initialDepth = 1111.075209; finalDepth = 1111.012670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:1111.01267 # Seafloor depth:-1161.012670 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 to get to end of line 11 # Segment length 79.354907 meters # Minimum depth: 1161.075209 meters looking forward 100.000000 meters along route # Maximum depth: 1162.897400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.075209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.761160; longitude = -122.039413; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1112.112583; finalDepth = 1111.075209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9130719999998 # Actual altitude: 50.9130719999998 # Commanded vehicle depth:1111.075209 # Seafloor depth:-1161.988281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; 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 = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 79.354907 meters # Minimum depth: 1162.112583 meters looking forward 100.000000 meters along route # Maximum depth: 1166.034950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.112583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760964; longitude = -122.039245; captureRadius = 10; duration = 79; initialDepth = 1115.641662; finalDepth = 1112.112583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9130719999998 # Actual altitude: 50.9130719999998 # Commanded vehicle depth:1112.112583 # Seafloor depth:-1162.987027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.65; 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 = 203.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 79.354907 meters # Minimum depth: 1165.641662 meters looking forward 100.000000 meters along route # Maximum depth: 1169.348454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.641662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.760379; longitude = -122.038742; captureRadius = 10; duration = 79; initialDepth = 1118.591298; finalDepth = 1115.641662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8744439999998 # Actual altitude: 50.8744439999998 # Commanded vehicle depth:1115.641662 # Seafloor depth:-1166.128612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.50; 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 = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 79.354907 meters # Minimum depth: 1168.591298 meters looking forward 100.000000 meters along route # Maximum depth: 1171.427452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.591298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759793; longitude = -122.038238; captureRadius = 10; duration = 79; initialDepth = 1120.818245; finalDepth = 1118.591298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.872261 # Actual altitude: 50.872261 # Commanded vehicle depth:1118.591298 # Seafloor depth:-1169.463559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.49; 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 = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 79.354907 meters # Minimum depth: 1170.818245 meters looking forward 100.000000 meters along route # Maximum depth: 1171.825120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.818245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.759226; longitude = -122.037751; captureRadius = 10; duration = 79; initialDepth = 1121.087731; finalDepth = 1120.818245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.872261 # Actual altitude: 50.872261 # Commanded vehicle depth:1120.818245 # Seafloor depth:-1171.540725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.49; 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 = 203.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 79.354907 meters # Minimum depth: 1171.087731 meters looking forward 100.000000 meters along route # Maximum depth: 1172.042867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.087731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758666; longitude = -122.037270; captureRadius = 10; duration = 79; initialDepth = 1118.581802; finalDepth = 1121.087731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7224800000001 # Actual altitude: 50.7224800000001 # Commanded vehicle depth:1121.087731 # Seafloor depth:-1171.620559 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 79.354907 meters # Minimum depth: 1168.581802 meters looking forward 100.000000 meters along route # Maximum depth: 1172.042867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1118.581802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.758096; longitude = -122.036780; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1109.523649; finalDepth = 1118.581802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8056490000001 # Actual altitude: 52.8056490000001 # Commanded vehicle depth:1118.581802 # Seafloor depth:-1171.387451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.22; 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 = 211.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 79.354907 meters # Minimum depth: 1159.523649 meters looking forward 100.000000 meters along route # Maximum depth: 1171.387451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.523649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757961; longitude = -122.036687; captureRadius = 10; duration = 79; initialDepth = 1111.676717; finalDepth = 1109.523649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8618240000001 # Actual altitude: 57.8618240000001 # Commanded vehicle depth:1109.523649 # Seafloor depth:-1167.385473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 79.354907 meters # Minimum depth: 1161.676717 meters looking forward 100.000000 meters along route # Maximum depth: 1162.588696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.676717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.757360; longitude = -122.036270; captureRadius = 10; duration = 79; initialDepth = 1111.977529; finalDepth = 1111.676717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8618240000001 # Actual altitude: 57.8618240000001 # Commanded vehicle depth:1111.676717 # Seafloor depth:-1162.281181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 231.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 79.354907 meters # Minimum depth: 1161.977529 meters looking forward 100.000000 meters along route # Maximum depth: 1168.323392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1111.977529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756748; longitude = -122.035846; captureRadius = 10; duration = 79; initialDepth = 1116.747467; finalDepth = 1111.977529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8915830000001 # Actual altitude: 50.8915830000001 # Commanded vehicle depth:1111.977529 # Seafloor depth:-1162.869112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.57; 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 = 203.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 79.354907 meters # Minimum depth: 1166.747467 meters looking forward 100.000000 meters along route # Maximum depth: 1175.620268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1116.747467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.756143; longitude = -122.035427; captureRadius = 10; duration = 79; initialDepth = 1123.006494; finalDepth = 1116.747467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1235180000001 # Actual altitude: 52.1235180000001 # Commanded vehicle depth:1116.747467 # Seafloor depth:-1168.870985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 79.354907 meters # Minimum depth: 1173.006494 meters looking forward 100.000000 meters along route # Maximum depth: 1184.701462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.006494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755535; longitude = -122.035006; captureRadius = 10; duration = 79; initialDepth = 1129.676998; finalDepth = 1123.006494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.976496 # Actual altitude: 52.976496 # Commanded vehicle depth:1123.006494 # Seafloor depth:-1175.982990 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 79.354907 meters # Minimum depth: 1179.676998 meters looking forward 100.000000 meters along route # Maximum depth: 1190.525197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.676998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754941; longitude = -122.034595; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1138.176680; finalDepth = 1129.676998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.4024390000002 # Actual altitude: 55.4024390000002 # Commanded vehicle depth:1129.676998 # Seafloor depth:-1185.079437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 79.354907 meters # Minimum depth: 1188.176680 meters looking forward 100.000000 meters along route # Maximum depth: 1199.269952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1138.176680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755137; longitude = -122.033998; captureRadius = 10; duration = 79; initialDepth = 1139.323193; finalDepth = 1138.176680; 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: 55.4024390000002 # Actual altitude: 55.4024390000002 # Commanded vehicle depth:1138.17668 # Seafloor depth:-1191.680969 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 79.354907 meters # Minimum depth: 1189.323193 meters looking forward 100.000000 meters along route # Maximum depth: 1199.269952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.323193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755407; longitude = -122.033176; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1142.282646; finalDepth = 1139.323193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8259460000002 # Actual altitude: 59.8259460000002 # Commanded vehicle depth:1139.323193 # Seafloor depth:-1199.149139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 239.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 79.354907 meters # Minimum depth: 1199.149139 meters looking forward 100.000000 meters along route # Maximum depth: 1200.843194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1142.282646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.755332; longitude = -122.033117; captureRadius = 10; duration = 79; initialDepth = 1150.506819; finalDepth = 1142.282646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.8259460000002 # Actual altitude: 59.8259460000002 # Commanded vehicle depth:1142.2826456 # Seafloor depth:-1199.476047 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 239.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 79.354907 meters # Minimum depth: 1200.506819 meters looking forward 100.000000 meters along route # Maximum depth: 1203.357151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.506819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754740; longitude = -122.032653; captureRadius = 10; duration = 79; initialDepth = 1152.082768; finalDepth = 1150.506819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1934014000001 # Actual altitude: 57.1934014000001 # Commanded vehicle depth:1150.506819 # Seafloor depth:-1200.807839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.88; MB_Bottom_Detect_Filter_Max_Range = 228.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 79.354907 meters # Minimum depth: 1202.082768 meters looking forward 100.000000 meters along route # Maximum depth: 1205.340119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.082768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.754160; longitude = -122.032199; captureRadius = 10; duration = 79; initialDepth = 1154.569807; finalDepth = 1152.082768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.332496 # Actual altitude: 51.332496 # Commanded vehicle depth:1152.082768 # Seafloor depth:-1203.415264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; 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 = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 79.354907 meters # Minimum depth: 1204.569807 meters looking forward 100.000000 meters along route # Maximum depth: 1206.348697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.569807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.753574; longitude = -122.031739; captureRadius = 10; duration = 79; initialDepth = 1155.715166; finalDepth = 1154.569807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.332496 # Actual altitude: 51.332496 # Commanded vehicle depth:1154.569807 # Seafloor depth:-1205.460542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; 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 = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 79.354907 meters # Minimum depth: 1205.715166 meters looking forward 100.000000 meters along route # Maximum depth: 1206.442930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.715166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752989; longitude = -122.031280; captureRadius = 10; duration = 79; initialDepth = 1155.460868; finalDepth = 1155.715166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8907349999999 # Actual altitude: 50.8907349999999 # Commanded vehicle depth:1155.715166 # Seafloor depth:-1206.419129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.56; 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 = 203.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 79.354907 meters # Minimum depth: 1205.460868 meters looking forward 100.000000 meters along route # Maximum depth: 1208.500046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1155.460868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.752382; longitude = -122.030805; captureRadius = 10; duration = 79; initialDepth = 1154.276216; finalDepth = 1155.460868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.718329 # Actual altitude: 50.718329 # Commanded vehicle depth:1155.460868 # Seafloor depth:-1206.179197 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 79.354907 meters # Minimum depth: 1204.276216 meters looking forward 100.000000 meters along route # Maximum depth: 1208.500046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.276216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751787; longitude = -122.030338; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1154.118652; finalDepth = 1154.276216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7290029999999 # Actual altitude: 50.7290029999999 # Commanded vehicle depth:1154.276216 # Seafloor depth:-1205.005219 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1204.118652 meters looking forward 100.000000 meters along route # Maximum depth: 1210.785809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.118652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751680; longitude = -122.030245; captureRadius = 10; duration = 79; initialDepth = 1157.875594; finalDepth = 1154.118652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7290029999999 # Actual altitude: 50.7290029999999 # Commanded vehicle depth:1154.118652 # Seafloor depth:-1204.266500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1207.875594 meters looking forward 100.000000 meters along route # Maximum depth: 1211.221858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.875594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.751096; longitude = -122.029734; captureRadius = 10; duration = 79; initialDepth = 1157.875594; finalDepth = 1157.875594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.965121 # Actual altitude: 52.965121 # Commanded vehicle depth:1157.875594 # Seafloor depth:-1210.840715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.86; 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 = 211.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1207.875594 meters looking forward 100.000000 meters along route # Maximum depth: 1212.530849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1157.875594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.750510; longitude = -122.029221; captureRadius = 10; duration = 79; initialDepth = 1161.865056; finalDepth = 1157.875594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.965121 # Actual altitude: 52.965121 # Commanded vehicle depth:1157.875594 # Seafloor depth:-1208.229974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.86; 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 = 211.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1211.865056 meters looking forward 100.000000 meters along route # Maximum depth: 1216.601620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.865056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749951; longitude = -122.028732; captureRadius = 10; duration = 79; initialDepth = 1165.638864; finalDepth = 1161.865056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7349649999999 # Actual altitude: 50.7349649999999 # Commanded vehicle depth:1161.865056 # Seafloor depth:-1212.600021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1215.638864 meters looking forward 100.000000 meters along route # Maximum depth: 1218.906037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.638864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.749374; longitude = -122.028228; captureRadius = 10; duration = 79; initialDepth = 1167.908189; finalDepth = 1165.638864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9738379999999 # Actual altitude: 50.9738379999999 # Commanded vehicle depth:1165.638864 # Seafloor depth:-1216.612702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1217.908189 meters looking forward 100.000000 meters along route # Maximum depth: 1221.573629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.908189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748798; longitude = -122.027724; captureRadius = 10; duration = 79; initialDepth = 1170.945663; finalDepth = 1167.908189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9990789999999 # Actual altitude: 50.9990789999999 # Commanded vehicle depth:1167.908189 # Seafloor depth:-1218.907268 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1220.945663 meters looking forward 100.000000 meters along route # Maximum depth: 1223.431313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.945663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.748212; longitude = -122.027212; captureRadius = 10; duration = 79; initialDepth = 1172.683240; finalDepth = 1170.945663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9990789999999 # Actual altitude: 50.9990789999999 # Commanded vehicle depth:1170.945663 # Seafloor depth:-1221.607823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1222.683240 meters looking forward 100.000000 meters along route # Maximum depth: 1226.072366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.683240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747626; longitude = -122.026699; captureRadius = 10; duration = 79; initialDepth = 1175.741645; finalDepth = 1172.683240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8761379999999 # Actual altitude: 50.8761379999999 # Commanded vehicle depth:1172.68324 # Seafloor depth:-1223.559378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.50; 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 = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 79.354907 meters # Minimum depth: 1225.741645 meters looking forward 100.000000 meters along route # Maximum depth: 1229.627057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.741645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.747041; longitude = -122.026187; captureRadius = 10; duration = 79; initialDepth = 1175.741645; finalDepth = 1175.741645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8761379999999 # Actual altitude: 50.8761379999999 # Commanded vehicle depth:1175.741645 # Seafloor depth:-1226.254133 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.50; 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 = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 79.354907 meters # Minimum depth: 1225.741645 meters looking forward 100.000000 meters along route # Maximum depth: 1229.655426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1175.741645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746470; longitude = -122.025688; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1176.430988; finalDepth = 1175.741645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.913781 # Actual altitude: 53.913781 # Commanded vehicle depth:1175.741645 # Seafloor depth:-1229.655426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1229.180287 meters looking forward 100.000000 meters along route # Maximum depth: 1232.743154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.430988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.746455; longitude = -122.025671; captureRadius = 10; duration = 79; initialDepth = 1181.429932; finalDepth = 1176.430988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.913781 # Actual altitude: 53.913781 # Commanded vehicle depth:1176.430988 # Seafloor depth:-1229.719877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.57; MB_Bottom_Detect_Filter_Max_Range = 215.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1231.429932 meters looking forward 100.000000 meters along route # Maximum depth: 1236.201820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.429932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745944; longitude = -122.025091; captureRadius = 10; duration = 79; initialDepth = 1185.360007; finalDepth = 1181.429932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2888889999999 # Actual altitude: 53.2888889999999 # Commanded vehicle depth:1181.429932 # Seafloor depth:-1232.899563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.16; 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 = 213.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1235.360007 meters looking forward 100.000000 meters along route # Maximum depth: 1238.506264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.360007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.745418; longitude = -122.024494; captureRadius = 10; duration = 79; initialDepth = 1188.277064; finalDepth = 1185.360007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4696309999999 # Actual altitude: 51.4696309999999 # Commanded vehicle depth:1185.360007 # Seafloor depth:-1236.513297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1238.277064 meters looking forward 100.000000 meters along route # Maximum depth: 1241.048455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.277064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744908; longitude = -122.023914; captureRadius = 10; duration = 79; initialDepth = 1190.210735; finalDepth = 1188.277064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.15329 # Actual altitude: 51.15329 # Commanded vehicle depth:1188.277064 # Seafloor depth:-1238.539858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1240.210735 meters looking forward 100.000000 meters along route # Maximum depth: 1245.097343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.210735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.744382; longitude = -122.023318; captureRadius = 10; duration = 79; initialDepth = 1193.689698; finalDepth = 1190.210735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0338589999999 # Actual altitude: 51.0338589999999 # Commanded vehicle depth:1190.210735 # Seafloor depth:-1241.244594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.14; 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 = 204.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1243.689698 meters looking forward 100.000000 meters along route # Maximum depth: 1245.625837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.689698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743871; longitude = -122.022738; captureRadius = 10; duration = 79; initialDepth = 1191.371380; finalDepth = 1193.689698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.471342 # Actual altitude: 51.471342 # Commanded vehicle depth:1193.689698 # Seafloor depth:-1245.161040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1241.371380 meters looking forward 100.000000 meters along route # Maximum depth: 1244.509474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.371380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.743345; longitude = -122.022141; captureRadius = 10; duration = 79; initialDepth = 1192.117295; finalDepth = 1191.371380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0574839999999 # Actual altitude: 52.0574839999999 # Commanded vehicle depth:1191.37138 # Seafloor depth:-1243.428864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1242.117295 meters looking forward 100.000000 meters along route # Maximum depth: 1257.417013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.117295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742835; longitude = -122.021562; captureRadius = 10; duration = 79; initialDepth = 1207.129459; finalDepth = 1192.117295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0574839999999 # Actual altitude: 52.0574839999999 # Commanded vehicle depth:1192.117295 # Seafloor depth:-1243.475055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 79.354907 meters # Minimum depth: 1257.129459 meters looking forward 100.000000 meters along route # Maximum depth: 1260.968586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.129459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.742309; longitude = -122.020965; captureRadius = 10; duration = 79; initialDepth = 1210.036823; finalDepth = 1207.129459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3577600000001 # Actual altitude: 51.3577600000001 # Commanded vehicle depth:1207.129459 # Seafloor depth:-1257.310189 # 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 6 # Segment length 79.354907 meters # Minimum depth: 1260.036823 meters looking forward 100.000000 meters along route # Maximum depth: 1261.077245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.036823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741798; longitude = -122.020385; captureRadius = 10; duration = 79; initialDepth = 1210.309779; finalDepth = 1210.036823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9256270000001 # Actual altitude: 50.9256270000001 # Commanded vehicle depth:1210.036823 # Seafloor depth:-1260.962450 # 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 5 # Segment length 79.354907 meters # Minimum depth: 1260.309779 meters looking forward 100.000000 meters along route # Maximum depth: 1267.020802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1210.309779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.741288; longitude = -122.019806; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1215.837755; finalDepth = 1210.309779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9256270000001 # Actual altitude: 50.9256270000001 # Commanded vehicle depth:1210.309779 # Seafloor depth:-1260.773132 # 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 5 # Segment length 79.354907 meters # Minimum depth: 1265.837755 meters looking forward 100.000000 meters along route # Maximum depth: 1272.422504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1215.837755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740732; longitude = -122.019465; captureRadius = 10; duration = 79; initialDepth = 1221.300295; finalDepth = 1215.837755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.642587 # Actual altitude: 51.642587 # Commanded vehicle depth:1215.837755 # Seafloor depth:-1267.480342 # 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 5 # Segment length 79.354907 meters # Minimum depth: 1271.300295 meters looking forward 100.000000 meters along route # Maximum depth: 1275.054647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.300295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.740101; longitude = -122.019078; captureRadius = 10; duration = 79; initialDepth = 1224.531615; finalDepth = 1221.300295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.642587 # Actual altitude: 51.642587 # Commanded vehicle depth:1221.300295 # Seafloor depth:-1272.620021 # 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 5 # Segment length 79.354907 meters # Minimum depth: 1274.531615 meters looking forward 100.000000 meters along route # Maximum depth: 1277.511819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.531615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.739494; longitude = -122.018705; captureRadius = 10; duration = 79; initialDepth = 1227.234840; finalDepth = 1224.531615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3197259999999 # Actual altitude: 51.3197259999999 # Commanded vehicle depth:1224.531615 # Seafloor depth:-1275.178217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.28; 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 = 205.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 79.354907 meters # Minimum depth: 1277.234840 meters looking forward 100.000000 meters along route # Maximum depth: 1277.790435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1227.234840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738884; longitude = -122.018331; captureRadius = 10; duration = 79; initialDepth = 1226.955832; finalDepth = 1227.234840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6466019999998 # Actual altitude: 50.6466019999998 # Commanded vehicle depth:1227.23484 # Seafloor depth:-1277.348554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.59; 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 = 202.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 79.354907 meters # Minimum depth: 1276.955832 meters looking forward 100.000000 meters along route # Maximum depth: 1279.438078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.955832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738254; longitude = -122.017944; captureRadius = 10; duration = 79; initialDepth = 1226.992300; finalDepth = 1226.955832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1382729999998 # Actual altitude: 50.1382729999998 # Commanded vehicle depth:1226.955832 # Seafloor depth:-1277.094105 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 79.354907 meters # Minimum depth: 1276.992300 meters looking forward 100.000000 meters along route # Maximum depth: 1280.777900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.992300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737638; longitude = -122.017566; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1229.387375; finalDepth = 1226.992300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6990250000001 # Actual altitude: 52.6990250000001 # Commanded vehicle depth:1226.9923 # Seafloor depth:-1279.691325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 79.354907 meters # Minimum depth: 1279.387375 meters looking forward 100.000000 meters along route # Maximum depth: 1280.777900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.387375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737320; longitude = -122.017360; captureRadius = 10; duration = 79; initialDepth = 1229.387375; finalDepth = 1229.387375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6990250000001 # Actual altitude: 52.6990250000001 # Commanded vehicle depth:1229.387375 # Seafloor depth:-1280.327608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 79.354907 meters # Minimum depth: 1279.387375 meters looking forward 100.000000 meters along route # Maximum depth: 1285.007669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.387375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736713; longitude = -122.016968; captureRadius = 10; duration = 79; initialDepth = 1234.726638; finalDepth = 1229.387375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.940233 # Actual altitude: 50.940233 # Commanded vehicle depth:1229.387375 # Seafloor depth:-1279.442855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 79.354907 meters # Minimum depth: 1284.726638 meters looking forward 100.000000 meters along route # Maximum depth: 1286.366457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.726638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736091; longitude = -122.016566; captureRadius = 10; duration = 79; initialDepth = 1236.140899; finalDepth = 1234.726638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.24369 # Actual altitude: 50.24369 # Commanded vehicle depth:1234.726638 # Seafloor depth:-1284.970328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 79.354907 meters # Minimum depth: 1286.140899 meters looking forward 100.000000 meters along route # Maximum depth: 1289.373793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1236.140899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735460; longitude = -122.016158; captureRadius = 10; duration = 79; initialDepth = 1238.562225; finalDepth = 1236.140899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3964249999999 # Actual altitude: 50.3964249999999 # Commanded vehicle depth:1236.140899 # Seafloor depth:-1286.537324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 79.354907 meters # Minimum depth: 1288.562225 meters looking forward 100.000000 meters along route # Maximum depth: 1289.399137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.562225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734829; longitude = -122.015751; captureRadius = 10; duration = 79; initialDepth = 1238.562225; finalDepth = 1238.562225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8369120000002 # Actual altitude: 50.8369120000002 # Commanded vehicle depth:1238.562225 # Seafloor depth:-1289.399137 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 79.354907 meters # Minimum depth: 1288.562225 meters looking forward 100.000000 meters along route # Maximum depth: 1289.979594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.562225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734228; longitude = -122.015362; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 1238.405686; finalDepth = 1238.562225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8369120000002 # Actual altitude: 50.8369120000002 # Commanded vehicle depth:1238.562225 # Seafloor depth:-1288.893880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 1288.405686 meters looking forward 100.000000 meters along route # Maximum depth: 1289.979594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.405686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734341; longitude = -122.014951; captureRadius = 10; duration = 79; initialDepth = 1220.932148; finalDepth = 1238.405686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.5417629999999 # Actual altitude: 51.5417629999999 # Commanded vehicle depth:1238.405686 # Seafloor depth:-1289.947449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 1270.932148 meters looking forward 100.000000 meters along route # Maximum depth: 1289.363854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.932148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734559; longitude = -122.014156; captureRadius = 10; duration = 79; initialDepth = 1197.157549; finalDepth = 1220.932148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4084289999998 # Actual altitude: 67.4084289999998 # Commanded vehicle depth:1220.932148 # Seafloor depth:-1288.340577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 269.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 1247.157549 meters looking forward 100.000000 meters along route # Maximum depth: 1276.058419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.157549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.734786; longitude = -122.013327; captureRadius = 10; duration = 79; initialDepth = 1160.818974; finalDepth = 1197.157549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.514032 # Actual altitude: 73.514032 # Commanded vehicle depth:1197.157549 # Seafloor depth:-1270.671581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 294.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 1210.818974 meters looking forward 100.000000 meters along route # Maximum depth: 1250.660391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.818974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735016; longitude = -122.012487; captureRadius = 10; duration = 79; initialDepth = 1102.739340; finalDepth = 1160.818974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.583791 # Actual altitude: 85.583791 # Commanded vehicle depth:1160.818974 # Seafloor depth:-1246.402765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.23; MB_Bottom_Detect_Filter_Max_Range = 342.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 342.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 1152.739340 meters looking forward 100.000000 meters along route # Maximum depth: 1223.496599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1102.739340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735234; longitude = -122.011689; captureRadius = 10; duration = 79; initialDepth = 984.078720; finalDepth = 1102.739340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.865194 # Actual altitude: 100 # Commanded vehicle depth:1102.73934 # Seafloor depth:-1209.604534 # 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 79.354907 meters # Minimum depth: 1034.078720 meters looking forward 100.000000 meters along route # Maximum depth: 1169.987316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.078720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735461; longitude = -122.010862; captureRadius = 10; duration = 79; initialDepth = 949.994092; finalDepth = 984.078720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 167.389237 # Actual altitude: 100 # Commanded vehicle depth:984.07872 # Seafloor depth:-1151.467957 # 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 79.354907 meters # Minimum depth: 999.994092 meters looking forward 100.000000 meters along route # Maximum depth: 1048.279957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.994092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735691; longitude = -122.010022; captureRadius = 10; duration = 79; initialDepth = 914.307333; finalDepth = 949.994092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 167.389237 # Actual altitude: 100 # Commanded vehicle depth:949.994092 # Seafloor depth:-1032.668632 # 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 79.354907 meters # Minimum depth: 964.307333 meters looking forward 100.000000 meters along route # Maximum depth: 1009.197790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.307333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735910; longitude = -122.009222; captureRadius = 10; duration = 79; initialDepth = 886.916135; finalDepth = 914.307333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6968010000001 # Actual altitude: 84.6968010000001 # Commanded vehicle depth:914.307333 # Seafloor depth:-999.004134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 338.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 936.916135 meters looking forward 100.000000 meters along route # Maximum depth: 970.114964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.916135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736136; longitude = -122.008397; captureRadius = 10; duration = 79; initialDepth = 864.652435; finalDepth = 886.916135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.6968010000001 # Actual altitude: 84.6968010000001 # Commanded vehicle depth:886.916135 # Seafloor depth:-964.229958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 338.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.88; MB_Bottom_Detect_Filter_Max_Range = 338.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 338.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 914.652435 meters looking forward 100.000000 meters along route # Maximum depth: 941.303036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.652435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736367; longitude = -122.007557; captureRadius = 10; duration = 79; initialDepth = 845.595560; finalDepth = 864.652435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.313823 # Actual altitude: 77.313823 # Commanded vehicle depth:864.652435 # Seafloor depth:-936.510340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 309.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 309.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 895.595560 meters looking forward 100.000000 meters along route # Maximum depth: 918.252987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.595560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736597; longitude = -122.006717; captureRadius = 10; duration = 79; initialDepth = 830.892896; finalDepth = 845.595560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.8579050000001 # Actual altitude: 71.8579050000001 # Commanded vehicle depth:845.59556 # Seafloor depth:-913.458443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.74; MB_Bottom_Detect_Filter_Max_Range = 287.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 880.892896 meters looking forward 100.000000 meters along route # Maximum depth: 897.963447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.892896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736827; longitude = -122.005876; captureRadius = 10; duration = 79; initialDepth = 817.459858; finalDepth = 830.892896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.862883 # Actual altitude: 67.862883 # Commanded vehicle depth:830.892896 # Seafloor depth:-894.727603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 271.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 271.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 79.354907 meters # Minimum depth: 867.459858 meters looking forward 100.000000 meters along route # Maximum depth: 884.851489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.459858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737057; longitude = -122.005036; captureRadius = 10; duration = 79; initialDepth = 813.716570; finalDepth = 817.459858; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.8347070000001 # Actual altitude: 63.8347070000001 # Commanded vehicle depth:817.459858 # Seafloor depth:-879.971999 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.34; 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 = 255.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 79.354907 meters # Minimum depth: 863.716570 meters looking forward 100.000000 meters along route # Maximum depth: 880.892896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.716570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737277; longitude = -122.004233; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 795.888968; finalDepth = 813.716570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5121409999999 # Actual altitude: 62.5121409999999 # Commanded vehicle depth:813.71657 # Seafloor depth:-867.159180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 250.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 250.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 845.888968 meters looking forward 100.000000 meters along route # Maximum depth: 868.105845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.888968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737291; longitude = -122.004028; captureRadius = 10; duration = 79; initialDepth = 779.251376; finalDepth = 795.888968; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.723067 # Actual altitude: 66.723067 # Commanded vehicle depth:795.888968 # Seafloor depth:-862.612035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 829.251376 meters looking forward 100.000000 meters along route # Maximum depth: 848.952891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.251376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737347; longitude = -122.003188; captureRadius = 10; duration = 79; initialDepth = 767.581233; finalDepth = 779.251376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.723067 # Actual altitude: 66.723067 # Commanded vehicle depth:779.251376 # Seafloor depth:-844.835487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 266.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 817.581233 meters looking forward 100.000000 meters along route # Maximum depth: 832.082678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.581233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737402; longitude = -122.002347; captureRadius = 10; duration = 79; initialDepth = 761.487404; finalDepth = 767.581233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5841109999999 # Actual altitude: 65.5841109999999 # Commanded vehicle depth:767.581233 # Seafloor depth:-827.883833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 262.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 262.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 811.487404 meters looking forward 100.000000 meters along route # Maximum depth: 819.697011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.487404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737458; longitude = -122.001507; captureRadius = 10; duration = 79; initialDepth = 747.644444; finalDepth = 761.487404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3026 # Actual altitude: 60.3026 # Commanded vehicle depth:761.487404 # Seafloor depth:-817.079309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.12; MB_Bottom_Detect_Filter_Max_Range = 241.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 797.644444 meters looking forward 100.000000 meters along route # Maximum depth: 813.430819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.644444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737514; longitude = -122.000667; captureRadius = 10; duration = 79; initialDepth = 733.486826; finalDepth = 747.644444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.0149729999999 # Actual altitude: 63.0149729999999 # Commanded vehicle depth:747.644444 # Seafloor depth:-810.659417 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 252.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 783.486826 meters looking forward 100.000000 meters along route # Maximum depth: 800.863105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.486826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737570; longitude = -121.999826; captureRadius = 10; duration = 79; initialDepth = 716.002624; finalDepth = 733.486826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1468450000001 # Actual altitude: 63.1468450000001 # Commanded vehicle depth:733.486826 # Seafloor depth:-796.633671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.59; 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 = 252.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 766.002624 meters looking forward 100.000000 meters along route # Maximum depth: 786.124045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.002624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737625; longitude = -121.998986; captureRadius = 10; duration = 79; initialDepth = 693.954811; finalDepth = 716.002624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.998372 # Actual altitude: 66.998372 # Commanded vehicle depth:716.002624 # Seafloor depth:-783.000996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 267.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 743.954811 meters looking forward 100.000000 meters along route # Maximum depth: 770.256572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.954811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737681; longitude = -121.998146; captureRadius = 10; duration = 79; initialDepth = 671.979972; finalDepth = 693.954811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.568535 # Actual altitude: 70.568535 # Commanded vehicle depth:693.954811 # Seafloor depth:-764.523346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 282.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 721.979972 meters looking forward 100.000000 meters along route # Maximum depth: 748.274779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.979972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737737; longitude = -121.997306; captureRadius = 10; duration = 79; initialDepth = 652.502543; finalDepth = 671.979972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.654101 # Actual altitude: 70.654101 # Commanded vehicle depth:671.979972 # Seafloor depth:-742.634073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.26; MB_Bottom_Detect_Filter_Max_Range = 282.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 702.502543 meters looking forward 100.000000 meters along route # Maximum depth: 726.431062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.502543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737792; longitude = -121.996465; captureRadius = 10; duration = 79; initialDepth = 640.318656; finalDepth = 652.502543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.654101 # Actual altitude: 70.654101 # Commanded vehicle depth:652.502543 # Seafloor depth:-720.513763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.26; MB_Bottom_Detect_Filter_Max_Range = 282.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 690.318656 meters looking forward 100.000000 meters along route # Maximum depth: 706.256914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.318656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737848; longitude = -121.995625; captureRadius = 10; duration = 79; initialDepth = 632.694109; finalDepth = 640.318656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0112200000001 # Actual altitude: 68.0112200000001 # Commanded vehicle depth:640.318656 # Seafloor depth:-702.439284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 272.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 682.694109 meters looking forward 100.000000 meters along route # Maximum depth: 691.541179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.694109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737904; longitude = -121.994785; captureRadius = 10; duration = 79; initialDepth = 628.776117; finalDepth = 632.694109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.120628 # Actual altitude: 62.120628 # Commanded vehicle depth:632.694109 # Seafloor depth:-689.797640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 678.776117 meters looking forward 100.000000 meters along route # Maximum depth: 683.110295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.776117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737960; longitude = -121.993945; captureRadius = 10; duration = 79; initialDepth = 623.343772; finalDepth = 628.776117; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.103531 # Actual altitude: 57.103531 # Commanded vehicle depth:628.776117 # Seafloor depth:-682.977619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 228.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 673.343772 meters looking forward 100.000000 meters along route # Maximum depth: 679.971776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.343772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738015; longitude = -121.993104; captureRadius = 10; duration = 79; initialDepth = 609.126493; finalDepth = 623.343772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.000402 # Actual altitude: 55.000402 # Commanded vehicle depth:623.343772 # Seafloor depth:-678.344174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 659.126493 meters looking forward 100.000000 meters along route # Maximum depth: 674.599811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.126493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738071; longitude = -121.992264; captureRadius = 10; duration = 79; initialDepth = 594.066336; finalDepth = 609.126493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.775769 # Actual altitude: 63.775769 # Commanded vehicle depth:609.126493 # Seafloor depth:-672.902262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 255.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 644.066336 meters looking forward 100.000000 meters along route # Maximum depth: 662.572878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.066336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738127; longitude = -121.991424; captureRadius = 10; duration = 79; initialDepth = 579.249003; finalDepth = 594.066336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.091525 # Actual altitude: 64.091525 # Commanded vehicle depth:594.066336 # Seafloor depth:-658.157861 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 256.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 629.249003 meters looking forward 100.000000 meters along route # Maximum depth: 646.112950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.249003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738183; longitude = -121.990583; captureRadius = 10; duration = 79; initialDepth = 564.801016; finalDepth = 579.249003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.091525 # Actual altitude: 64.091525 # Commanded vehicle depth:579.249003 # Seafloor depth:-643.301755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 256.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 614.801016 meters looking forward 100.000000 meters along route # Maximum depth: 632.282201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.801016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738238; longitude = -121.989743; captureRadius = 10; duration = 79; initialDepth = 549.335307; finalDepth = 564.801016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0527519999999 # Actual altitude: 64.0527519999999 # Commanded vehicle depth:564.801016 # Seafloor depth:-628.274440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 256.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 599.335307 meters looking forward 100.000000 meters along route # Maximum depth: 617.423292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.335307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738294; longitude = -121.988903; captureRadius = 10; duration = 79; initialDepth = 526.912365; finalDepth = 549.335307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.952435 # Actual altitude: 64.952435 # Commanded vehicle depth:549.335307 # Seafloor depth:-614.287742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 259.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 576.912365 meters looking forward 100.000000 meters along route # Maximum depth: 601.942281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.912365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738350; longitude = -121.988063; captureRadius = 10; duration = 79; initialDepth = 492.839682; finalDepth = 526.912365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.506408 # Actual altitude: 71.506408 # Commanded vehicle depth:526.912365 # Seafloor depth:-598.418773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.60; MB_Bottom_Detect_Filter_Max_Range = 286.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 79.354907 meters # Minimum depth: 542.839682 meters looking forward 100.000000 meters along route # Maximum depth: 582.116483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.839682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738406; longitude = -121.987222; captureRadius = 10; duration = 79; initialDepth = 479.596565; finalDepth = 492.839682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0257469999999 # Actual altitude: 82.0257469999999 # Commanded vehicle depth:492.839682 # Seafloor depth:-574.865429 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 328.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 79.354907 meters # Minimum depth: 529.596565 meters looking forward 100.000000 meters along route # Maximum depth: 570.856887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.596565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738464; longitude = -121.986345; captureRadius = 10; duration = 79; # abortOnTimeout = True; initialDepth = 443.508267; finalDepth = 479.596565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0257469999999 # Actual altitude: 82.0257469999999 # Commanded vehicle depth:479.596565 # Seafloor depth:-541.148844 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 328.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 328.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 493.508267 meters looking forward 100.000000 meters along route # Maximum depth: 537.404032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.508267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738425; longitude = -121.986046; captureRadius = 10; duration = 79; initialDepth = 407.817002; finalDepth = 443.508267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.773969 # Actual altitude: 83.773969 # Commanded vehicle depth:443.508267 # Seafloor depth:-527.282236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 335.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 457.817002 meters looking forward 100.000000 meters along route # Maximum depth: 500.092152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.817002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738318; longitude = -121.985206; captureRadius = 10; duration = 79; initialDepth = 381.262984; finalDepth = 407.817002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.773969 # Actual altitude: 83.773969 # Commanded vehicle depth:407.817002 # Seafloor depth:-491.548675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.51; MB_Bottom_Detect_Filter_Max_Range = 335.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 335.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 431.262984 meters looking forward 100.000000 meters along route # Maximum depth: 465.559559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.262984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738208; longitude = -121.984355; captureRadius = 10; duration = 79; initialDepth = 359.209046; finalDepth = 381.262984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.731673 # Actual altitude: 83.731673 # Commanded vehicle depth:381.262984 # Seafloor depth:-457.398924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 334.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.49; MB_Bottom_Detect_Filter_Max_Range = 334.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 334.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 409.209046 meters looking forward 100.000000 meters along route # Maximum depth: 436.415037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.209046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.738102; longitude = -121.983525; captureRadius = 10; duration = 79; initialDepth = 336.722129; finalDepth = 359.209046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.13594 # Actual altitude: 76.13594 # Commanded vehicle depth:359.209046 # Seafloor depth:-429.600502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 304.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 304.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 304.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 386.722129 meters looking forward 100.000000 meters along route # Maximum depth: 414.482760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.722129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737994; longitude = -121.982685; captureRadius = 10; duration = 79; initialDepth = 314.703298; finalDepth = 336.722129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.889983 # Actual altitude: 70.889983 # Commanded vehicle depth:336.722129 # Seafloor depth:-407.612112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.36; MB_Bottom_Detect_Filter_Max_Range = 283.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 364.703298 meters looking forward 100.000000 meters along route # Maximum depth: 390.862960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.703298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737886; longitude = -121.981844; captureRadius = 10; duration = 79; initialDepth = 293.373150; finalDepth = 314.703298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.953714 # Actual altitude: 70.953714 # Commanded vehicle depth:314.703298 # Seafloor depth:-385.657012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 283.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 343.373150 meters looking forward 100.000000 meters along route # Maximum depth: 369.019234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.373150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737778; longitude = -121.981004; captureRadius = 10; duration = 79; initialDepth = 276.636530; finalDepth = 293.373150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.953714 # Actual altitude: 70.953714 # Commanded vehicle depth:293.37315 # Seafloor depth:-362.458977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.38; MB_Bottom_Detect_Filter_Max_Range = 283.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 326.636530 meters looking forward 100.000000 meters along route # Maximum depth: 346.812409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.636530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737671; longitude = -121.980164; captureRadius = 10; duration = 79; initialDepth = 257.115373; finalDepth = 276.636530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.085827 # Actual altitude: 69.085827 # Commanded vehicle depth:276.63653 # Seafloor depth:-342.199104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.63; MB_Bottom_Detect_Filter_Max_Range = 276.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 307.115373 meters looking forward 100.000000 meters along route # Maximum depth: 330.528163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.115373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737563; longitude = -121.979324; captureRadius = 10; duration = 79; initialDepth = 237.418014; finalDepth = 257.115373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.129324 # Actual altitude: 68.129324 # Commanded vehicle depth:257.115373 # Seafloor depth:-325.244697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 272.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 287.418014 meters looking forward 100.000000 meters along route # Maximum depth: 311.568533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.418014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737455; longitude = -121.978483; captureRadius = 10; duration = 79; initialDepth = 214.984887; finalDepth = 237.418014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.129324 # Actual altitude: 68.129324 # Commanded vehicle depth:237.418014 # Seafloor depth:-305.105648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 272.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 264.984887 meters looking forward 100.000000 meters along route # Maximum depth: 290.865087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.984887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737347; longitude = -121.977643; captureRadius = 10; duration = 79; initialDepth = 195.075230; finalDepth = 214.984887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.124123 # Actual altitude: 71.124123 # Commanded vehicle depth:214.984887 # Seafloor depth:-286.109010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.45; MB_Bottom_Detect_Filter_Max_Range = 284.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 245.075230 meters looking forward 100.000000 meters along route # Maximum depth: 270.276264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.075230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737239; longitude = -121.976803; captureRadius = 10; duration = 79; initialDepth = 178.662410; finalDepth = 195.075230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.124123 # Actual altitude: 71.124123 # Commanded vehicle depth:195.07523 # Seafloor depth:-263.661156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.45; MB_Bottom_Detect_Filter_Max_Range = 284.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 228.662410 meters looking forward 100.000000 meters along route # Maximum depth: 248.076758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.662410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737131; longitude = -121.975963; captureRadius = 10; duration = 79; initialDepth = 162.618533; finalDepth = 178.662410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.585926 # Actual altitude: 68.585926 # Commanded vehicle depth:178.66241 # Seafloor depth:-243.976263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 212.618533 meters looking forward 100.000000 meters along route # Maximum depth: 231.739137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.618533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.737024; longitude = -121.975122; captureRadius = 10; duration = 79; initialDepth = 146.132611; finalDepth = 162.618533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.313853 # Actual altitude: 65.313853 # Commanded vehicle depth:162.618533 # Seafloor depth:-227.268565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 261.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 196.132611 meters looking forward 100.000000 meters along route # Maximum depth: 215.674183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.132611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736916; longitude = -121.974282; captureRadius = 10; duration = 79; initialDepth = 131.082032; finalDepth = 146.132611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.434734 # Actual altitude: 65.434734 # Commanded vehicle depth:146.132611 # Seafloor depth:-211.567345 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 261.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 181.082032 meters looking forward 100.000000 meters along route # Maximum depth: 199.800218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.082032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736808; longitude = -121.973442; captureRadius = 10; duration = 79; initialDepth = 122.972956; finalDepth = 131.082032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.434734 # Actual altitude: 65.434734 # Commanded vehicle depth:131.082032 # Seafloor depth:-196.026543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 261.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 261.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 172.972956 meters looking forward 100.000000 meters along route # Maximum depth: 184.735719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.972956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736700; longitude = -121.972601; captureRadius = 10; duration = 79; initialDepth = 100.759462; finalDepth = 122.972956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.944511 # Actual altitude: 64.944511 # Commanded vehicle depth:122.972956 # Seafloor depth:-179.612815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 259.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 259.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 259.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 150.759462 meters looking forward 100.000000 meters along route # Maximum depth: 175.745837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.759462 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736592; longitude = -121.971761; captureRadius = 10; duration = 79; initialDepth = 84.563801; finalDepth = 100.759462; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.67632 # Actual altitude: 71.67632 # Commanded vehicle depth:100.759462 # Seafloor depth:-172.435782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.67; MB_Bottom_Detect_Filter_Max_Range = 286.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 134.563801 meters looking forward 100.000000 meters along route # Maximum depth: 155.410915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.563801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736484; longitude = -121.970921; captureRadius = 10; duration = 79; initialDepth = 76.050091; finalDepth = 84.563801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.67632 # Actual altitude: 71.67632 # Commanded vehicle depth:84.563801 # Seafloor depth:-149.571380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.67; MB_Bottom_Detect_Filter_Max_Range = 286.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 286.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 126.050091 meters looking forward 100.000000 meters along route # Maximum depth: 137.578806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.050091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736377; longitude = -121.970081; captureRadius = 10; duration = 79; initialDepth = 72.032056; finalDepth = 76.050091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.007579 # Actual altitude: 65.007579 # Commanded vehicle depth:76.050091 # Seafloor depth:-133.800846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 260.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 122.032056 meters looking forward 100.000000 meters along route # Maximum depth: 127.497093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.032056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736269; longitude = -121.969240; captureRadius = 10; duration = 79; initialDepth = 69.859195; finalDepth = 72.032056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.750755 # Actual altitude: 57.750755 # Commanded vehicle depth:72.032056 # Seafloor depth:-126.756186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 231.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 119.859195 meters looking forward 100.000000 meters along route # Maximum depth: 122.712080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.859195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736161; longitude = -121.968400; captureRadius = 10; duration = 79; initialDepth = 68.336042; finalDepth = 69.859195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.72413 # Actual altitude: 54.72413 # Commanded vehicle depth:69.859195 # Seafloor depth:-122.126808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 79.354907 meters # Minimum depth: 118.336042 meters looking forward 100.000000 meters along route # Maximum depth: 120.380185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.336042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.736053; longitude = -121.967560; captureRadius = 10; duration = 79; initialDepth = 68.336042; finalDepth = 68.336042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.267613 # Actual altitude: 52.267613 # Commanded vehicle depth:68.336042 # Seafloor depth:-119.863487 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 51.527445 # Sonar parameter altitude: 51.527445 # Commanded vehicle depth:68.336042 # Seafloor depth:-118.471151 # 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 = 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 79.354907 meters # Minimum depth: 118.336042 meters looking forward 100.000000 meters along route # Maximum depth: 120.380185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1263.562225 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.336042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.735940; longitude = -121.966682; captureRadius = 10; duration = 600; initialDepth = 68.336042; finalDepth = 68.336042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 278.447518; 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 = 278.447518; 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; } # ####################################################### #######################################################