# 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: 20070619TestSurvey.rte # Mission File: 20070619TestSurvey.cfg # Distance: 11465.233890 (m) # Estimated Time: 10428 (s) 2.897 (hr) # Abort Time: 13557 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 1142 (s) # Way Points: 54 # Route Points: 140 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 300 (m) # Abort Vehicle Depth: 330 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 0.583 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.836006 36.826315 -57.454376 0.000000 1 # 1 -121.837594 36.819348 -95.039782 785.786888 1 # 2 -121.838752 36.815164 -120.093166 1261.332586 1 # 3 -121.839163 36.812175 -135.528484 1594.966047 1 # 4 -121.839948 36.810438 -145.284283 1800.005458 1 # 5 -121.841274 36.809560 -149.619617 1953.241355 1 # 6 -121.843310 36.808701 -156.020805 2158.356207 1 # 7 -121.845084 36.807711 -162.256653 2350.995373 1 # 8 -121.846392 36.806964 -167.308838 2494.119841 1 # 9 -121.850632 36.805301 -193.933304 2914.980127 1 # 10 -121.852705 36.804573 -237.505760 3116.788599 1 # 11 -121.855077 36.804330 -262.416656 3330.116677 1 # 12 -121.856796 36.803901 -276.013031 3490.693359 1 # 13 -121.857748 36.803396 -316.430527 3592.441398 1 # 14 -121.858869 36.802668 -347.039482 3720.993506 1 # 15 -121.860008 36.802649 -348.146217 3822.633372 1 # 16 -121.860886 36.802276 -351.119453 3911.224927 1 # 17 -121.861409 36.801304 -356.446564 4028.724333 1 # 18 -121.861727 36.799754 -360.090096 4203.011723 1 # 19 -121.862063 36.797456 -367.045723 4459.716536 1 # 20 -121.862679 36.796392 -371.647026 4589.928478 1 # 21 -121.866340 36.795589 -381.160576 4928.509931 1 # 22 -121.870431 36.794468 -393.032166 5314.136813 1 # 23 -121.873513 36.793683 -397.738403 5602.594272 1 # 24 -121.876875 36.792395 -408.192390 5934.872848 1 # 25 -121.878444 36.792619 -409.238533 6077.060582 1 # 26 -121.879826 36.792974 -414.912849 6206.510384 1 # 27 -121.884701 36.796840 -430.721642 6817.380515 1 # 28 -121.885766 36.797232 -431.779320 6921.882184 1 # 29 -121.887223 36.797176 -435.259697 7052.027970 1 # 30 -121.888904 36.796784 -439.861870 7208.189580 1 # 31 -121.890604 36.796037 -444.933235 7381.033342 1 # 32 -121.894470 36.794020 -454.022682 7792.202569 1 # 33 -121.896319 36.793795 -456.745232 7959.059763 1 # 34 -121.897328 36.794692 -461.952820 8093.255710 1 # 35 -121.897646 36.795663 -467.423401 8204.654977 1 # 36 -121.896917 36.796784 -466.175217 8345.003846 1 # 37 -121.895908 36.798017 -475.536491 8508.761881 1 # 38 -121.896263 36.799007 -481.013435 8623.070950 1 # 39 -121.897982 36.799362 -483.161842 8781.416578 1 # 40 -121.900018 36.798783 -488.420044 8974.092061 1 # 41 -121.901699 36.797662 -491.346581 9168.928712 1 # 42 -121.903025 36.797120 -499.183319 9301.641312 1 # 43 -121.904669 36.796821 -502.146851 9451.987863 1 # 44 -121.905827 36.795944 -503.205444 9593.981525 1 # 45 -121.905771 36.794935 -509.374146 9705.994052 1 # 46 -121.905173 36.793627 -512.558065 9860.543937 1 # 47 -121.904276 36.792170 -516.721436 10040.892142 1 # 48 -121.903473 36.790452 -523.612874 10244.563383 1 # 49 -121.903025 36.787986 -531.462199 10521.008114 1 # 50 -121.903100 36.785110 -536.160807 10840.202225 1 # 51 -121.903865 36.783111 -544.899414 11072.224151 1 # 52 -121.904706 36.780926 -551.680990 11326.013577 1 # 53 -121.904052 36.779787 -554.886393 11465.233890 1 # # A total of 140 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 9000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 300.000000; abortDepth = 330.000000; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1142; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 53 # Segment length 38.799140 meters # Minimum depth: 554.886393 meters looking forward 100.000000 meters along route # Maximum depth: 555.252417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.779787; longitude = -121.904052; captureRadius = 10; duration = 38; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 254.886393 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-554.886393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.421173 meters # Minimum depth: 551.600946 meters looking forward 100.000000 meters along route # Maximum depth: 554.968931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.780104; longitude = -121.904234; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 254.968931 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-554.968931 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 47.721127 meters # Minimum depth: 551.580125 meters looking forward 100.000000 meters along route # Maximum depth: 552.505908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.780926; longitude = -121.904706; captureRadius = 10; duration = 47; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 254.968931 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-551.680990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 104.118761 meters # Minimum depth: 550.578161 meters looking forward 100.000000 meters along route # Maximum depth: 552.170463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.781337; longitude = -121.904548; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 252.170463 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-552.170463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 101.949538 meters # Minimum depth: 545.060262 meters looking forward 100.000000 meters along route # Maximum depth: 550.015861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.782233; longitude = -121.904203; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 252.170463 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-550.015861 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 22.636304 meters # Minimum depth: 544.022661 meters looking forward 100.000000 meters along route # Maximum depth: 548.369961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.783111; longitude = -121.903865; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 250.015861 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-544.899414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 103.132642 meters # Minimum depth: 539.383150 meters looking forward 100.000000 meters along route # Maximum depth: 544.002805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.783306; longitude = -121.903791; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 244.899414 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-544.002805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 106.252980 meters # Minimum depth: 536.308740 meters looking forward 100.000000 meters along route # Maximum depth: 539.502852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.784195; longitude = -121.903450; captureRadius = 10; duration = 106; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 244.002805 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-539.295543 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 4.145377 meters # Minimum depth: 536.160807 meters looking forward 100.000000 meters along route # Maximum depth: 539.502852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.785110; longitude = -121.903100; captureRadius = 10; duration = 4; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 239.295543 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-536.160807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 105.707124 meters # Minimum depth: 533.828420 meters looking forward 100.000000 meters along route # Maximum depth: 535.914087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.785147; longitude = -121.903099; captureRadius = 10; duration = 105; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 236.160807 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-535.914087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 105.707142 meters # Minimum depth: 532.768649 meters looking forward 100.000000 meters along route # Maximum depth: 533.611273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.786100; longitude = -121.903074; captureRadius = 10; duration = 105; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 235.914087 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-533.611273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 103.634468 meters # Minimum depth: 531.304512 meters looking forward 100.000000 meters along route # Maximum depth: 532.642587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.787053; longitude = -121.903049; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 233.611273 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-532.642587 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 71.205471 meters # Minimum depth: 529.618123 meters looking forward 100.000000 meters along route # Maximum depth: 531.625719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.787986; longitude = -121.903025; captureRadius = 10; duration = 71; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 232.642587 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-531.462199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.525359 meters # Minimum depth: 527.309705 meters looking forward 100.000000 meters along route # Maximum depth: 529.603188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.788622; longitude = -121.903140; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 231.462199 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-529.603188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.713901 meters # Minimum depth: 523.674805 meters looking forward 100.000000 meters along route # Maximum depth: 527.283960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.789518; longitude = -121.903303; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 229.603188 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-527.283960 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 101.835689 meters # Minimum depth: 520.165813 meters looking forward 100.000000 meters along route # Maximum depth: 523.612874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.790452; longitude = -121.903473; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 227.28396 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-523.612874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 101.835552 meters # Minimum depth: 516.788751 meters looking forward 100.000000 meters along route # Maximum depth: 520.041626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.791311; longitude = -121.903875; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 223.612874 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-520.041626 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 73.989089 meters # Minimum depth: 514.502380 meters looking forward 100.000000 meters along route # Maximum depth: 517.043307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792170; longitude = -121.904276; captureRadius = 10; duration = 73; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 220.041626 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-516.721436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 106.359116 meters # Minimum depth: 512.262639 meters looking forward 100.000000 meters along route # Maximum depth: 515.642841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792768; longitude = -121.904644; captureRadius = 10; duration = 106; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 216.721436 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-514.730572 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 50.780710 meters # Minimum depth: 511.112984 meters looking forward 100.000000 meters along route # Maximum depth: 512.700401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793627; longitude = -121.905173; captureRadius = 10; duration = 50; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 214.730572 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-512.558065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.769175 meters # Minimum depth: 509.295277 meters looking forward 100.000000 meters along route # Maximum depth: 511.007996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794057; longitude = -121.905369; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 212.558065 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-511.007996 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 8.297223 meters # Minimum depth: 509.235940 meters looking forward 100.000000 meters along route # Maximum depth: 510.741554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794935; longitude = -121.905771; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 211.007996 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-509.374146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.715304 meters # Minimum depth: 503.351178 meters looking forward 100.000000 meters along route # Maximum depth: 509.006332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795010; longitude = -121.905775; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 209.374146 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-509.006332 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 39.274924 meters # Minimum depth: 501.750804 meters looking forward 100.000000 meters along route # Maximum depth: 505.087280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795944; longitude = -121.905827; captureRadius = 10; duration = 39; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 209.006332 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-503.205444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 102.718738 meters # Minimum depth: 500.943390 meters looking forward 100.000000 meters along route # Maximum depth: 502.157659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796186; longitude = -121.905506; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 203.205444 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-501.840208 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 49.547564 meters # Minimum depth: 501.180887 meters looking forward 100.000000 meters along route # Maximum depth: 503.153110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796821; longitude = -121.904669; captureRadius = 10; duration = 49; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 202.146851 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-502.146851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.798987 meters # Minimum depth: 498.990855 meters looking forward 100.000000 meters along route # Maximum depth: 502.693659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796920; longitude = -121.904127; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 202.146851 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-501.873982 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 32.077806 meters # Minimum depth: 494.256616 meters looking forward 100.000000 meters along route # Maximum depth: 502.069236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797120; longitude = -121.903025; captureRadius = 10; duration = 32; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 201.873982 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-499.183319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.634794 meters # Minimum depth: 491.535896 meters looking forward 100.000000 meters along route # Maximum depth: 494.175005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797251; longitude = -121.902704; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 199.183319 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-494.175005 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 94.135235 meters # Minimum depth: 489.590216 meters looking forward 100.000000 meters along route # Maximum depth: 491.732853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797662; longitude = -121.901699; captureRadius = 10; duration = 94; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 194.175005 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-491.346581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.701416 meters # Minimum depth: 488.006384 meters looking forward 100.000000 meters along route # Maximum depth: 490.394045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798204; longitude = -121.900887; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 191.346581 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-488.233877 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 88.408767 meters # Minimum depth: 484.420993 meters looking forward 100.000000 meters along route # Maximum depth: 488.800754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798783; longitude = -121.900018; captureRadius = 10; duration = 88; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 188.420044 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-488.420044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 104.266716 meters # Minimum depth: 479.891918 meters looking forward 100.000000 meters along route # Maximum depth: 484.916741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799049; longitude = -121.899084; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 188.420044 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-484.916741 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 53.360101 meters # Minimum depth: 480.476827 meters looking forward 100.000000 meters along route # Maximum depth: 483.492364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799362; longitude = -121.897982; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 184.916741 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-483.161842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 104.985527 meters # Minimum depth: 478.404890 meters looking forward 100.000000 meters along route # Maximum depth: 482.118335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799242; longitude = -121.897403; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 183.161842 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-481.446699 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 11.921521 meters # Minimum depth: 478.404890 meters looking forward 100.000000 meters along route # Maximum depth: 481.503986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799007; longitude = -121.896263; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 181.446699 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-481.013435 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 102.387548 meters # Minimum depth: 475.710770 meters looking forward 100.000000 meters along route # Maximum depth: 481.294949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798904; longitude = -121.896226; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 181.294949 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-481.294949 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 60.701047 meters # Minimum depth: 474.647453 meters looking forward 100.000000 meters along route # Maximum depth: 477.405652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798017; longitude = -121.895908; captureRadius = 10; duration = 60; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 181.294949 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-475.536491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 103.056988 meters # Minimum depth: 466.853612 meters looking forward 100.000000 meters along route # Maximum depth: 474.680317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797560; longitude = -121.896282; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 175.536491 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-474.678946 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 39.749754 meters # Minimum depth: 463.672374 meters looking forward 100.000000 meters along route # Maximum depth: 471.057604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796784; longitude = -121.896917; captureRadius = 10; duration = 39; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 174.678946 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-466.175217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.599115 meters # Minimum depth: 464.015266 meters looking forward 100.000000 meters along route # Maximum depth: 467.229597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796467; longitude = -121.897123; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 166.175217 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-464.015266 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 10.676334 meters # Minimum depth: 464.576954 meters looking forward 100.000000 meters along route # Maximum depth: 467.423401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795663; longitude = -121.897646; captureRadius = 10; duration = 10; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 167.423401 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-467.423401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.722933 meters # Minimum depth: 461.505599 meters looking forward 100.000000 meters along route # Maximum depth: 467.274217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795570; longitude = -121.897616; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 167.423401 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-467.220579 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 27.936294 meters # Minimum depth: 459.874940 meters looking forward 100.000000 meters along route # Maximum depth: 466.917679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794692; longitude = -121.897328; captureRadius = 10; duration = 27; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 167.220579 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-461.952820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 106.259653 meters # Minimum depth: 455.705305 meters looking forward 100.000000 meters along route # Maximum depth: 461.168204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794505; longitude = -121.897118; captureRadius = 10; duration = 106; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 161.95282 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-459.938903 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 64.018904 meters # Minimum depth: 455.869210 meters looking forward 100.000000 meters along route # Maximum depth: 456.862872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793795; longitude = -121.896319; captureRadius = 10; duration = 64; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 159.938903 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-456.745232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 102.838290 meters # Minimum depth: 453.897213 meters looking forward 100.000000 meters along route # Maximum depth: 456.697147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793881; longitude = -121.895610; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 156.745232 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-456.697147 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 3.952169 meters # Minimum depth: 453.897213 meters looking forward 100.000000 meters along route # Maximum depth: 456.080121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794020; longitude = -121.894470; captureRadius = 10; duration = 3; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 156.697147 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-454.022682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.314999 meters # Minimum depth: 451.234306 meters looking forward 100.000000 meters along route # Maximum depth: 454.161930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794039; longitude = -121.894433; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 154.16193 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-454.161930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.314561 meters # Minimum depth: 448.856969 meters looking forward 100.000000 meters along route # Maximum depth: 451.951326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794536; longitude = -121.893480; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 154.16193 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-451.062372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.314124 meters # Minimum depth: 446.841351 meters looking forward 100.000000 meters along route # Maximum depth: 448.784742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795033; longitude = -121.892528; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 151.062372 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-448.784742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.273374 meters # Minimum depth: 444.684414 meters looking forward 100.000000 meters along route # Maximum depth: 447.028422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795530; longitude = -121.891575; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 148.784742 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-447.028422 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 72.191448 meters # Minimum depth: 443.031953 meters looking forward 100.000000 meters along route # Maximum depth: 446.289732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796037; longitude = -121.890604; captureRadius = 10; duration = 72; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 147.028422 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-444.933235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.652314 meters # Minimum depth: 439.581876 meters looking forward 100.000000 meters along route # Maximum depth: 443.325095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796349; longitude = -121.889894; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 144.933235 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-443.325095 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 53.790792 meters # Minimum depth: 437.161280 meters looking forward 100.000000 meters along route # Maximum depth: 441.650464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796784; longitude = -121.888904; captureRadius = 10; duration = 53; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 143.325095 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-439.861870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.370818 meters # Minimum depth: 434.316685 meters looking forward 100.000000 meters along route # Maximum depth: 437.725681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796919; longitude = -121.888325; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 139.86187 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-437.060409 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 26.700628 meters # Minimum depth: 433.542424 meters looking forward 100.000000 meters along route # Maximum depth: 436.018424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797176; longitude = -121.887223; captureRadius = 10; duration = 26; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 137.060409 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-435.259697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 103.445158 meters # Minimum depth: 431.635035 meters looking forward 100.000000 meters along route # Maximum depth: 435.445264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797187; longitude = -121.886924; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 135.445264 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-435.445264 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 1.831251 meters # Minimum depth: 431.635035 meters looking forward 100.000000 meters along route # Maximum depth: 435.165599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797232; longitude = -121.885766; captureRadius = 10; duration = 1; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 135.445264 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-431.779320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.670418 meters # Minimum depth: 430.710844 meters looking forward 100.000000 meters along route # Maximum depth: 432.137375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797225; longitude = -121.885747; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.77932 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-431.732707 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 2.297754 meters # Minimum depth: 430.710844 meters looking forward 100.000000 meters along route # Maximum depth: 432.137375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796840; longitude = -121.884701; captureRadius = 10; duration = 2; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.732707 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-430.721642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.987888 meters # Minimum depth: 430.739247 meters looking forward 100.000000 meters along route # Maximum depth: 432.333867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796825; longitude = -121.884683; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 130.739247 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-430.739247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.637436 meters # Minimum depth: 428.286844 meters looking forward 100.000000 meters along route # Maximum depth: 431.598137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796186; longitude = -121.883877; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.291057 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-431.291057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.008750 meters # Minimum depth: 425.593329 meters looking forward 100.000000 meters along route # Maximum depth: 428.368883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795537; longitude = -121.883058; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 131.291057 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-428.368883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.618354 meters # Minimum depth: 422.295892 meters looking forward 100.000000 meters along route # Maximum depth: 425.624592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794898; longitude = -121.882252; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 128.368883 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-425.490090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.029613 meters # Minimum depth: 419.290982 meters looking forward 100.000000 meters along route # Maximum depth: 422.612765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794248; longitude = -121.881433; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.49009 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-422.436398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.290336 meters # Minimum depth: 414.999386 meters looking forward 100.000000 meters along route # Maximum depth: 419.805611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793609; longitude = -121.880626; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.436398 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-419.367879 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 27.969684 meters # Minimum depth: 413.892135 meters looking forward 100.000000 meters along route # Maximum depth: 419.244217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792974; longitude = -121.879826; captureRadius = 10; duration = 27; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.367879 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-414.912849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.480118 meters # Minimum depth: 409.363924 meters looking forward 100.000000 meters along route # Maximum depth: 413.837967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792897; longitude = -121.879527; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.912849 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-413.837967 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 38.928232 meters # Minimum depth: 408.631780 meters looking forward 100.000000 meters along route # Maximum depth: 411.485674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792619; longitude = -121.878444; captureRadius = 10; duration = 38; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.837967 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-409.238533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 103.259502 meters # Minimum depth: 408.115343 meters looking forward 100.000000 meters along route # Maximum depth: 408.962555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792558; longitude = -121.878014; captureRadius = 10; duration = 103; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.238533 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-408.577244 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 23.989255 meters # Minimum depth: 407.741558 meters looking forward 100.000000 meters along route # Maximum depth: 408.962555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792395; longitude = -121.876875; captureRadius = 10; duration = 23; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.577244 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-408.192390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.538697 meters # Minimum depth: 405.339117 meters looking forward 100.000000 meters along route # Maximum depth: 408.044666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792488; longitude = -121.876632; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.19239 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-407.977399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 105.225574 meters # Minimum depth: 401.876421 meters looking forward 100.000000 meters along route # Maximum depth: 405.746445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.792882; longitude = -121.875605; captureRadius = 10; duration = 105; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.977399 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-405.746445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.525050 meters # Minimum depth: 397.893689 meters looking forward 100.000000 meters along route # Maximum depth: 401.783108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793289; longitude = -121.874540; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.746445 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-401.783108 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 82.173229 meters # Minimum depth: 394.539344 meters looking forward 100.000000 meters along route # Maximum depth: 398.819577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793683; longitude = -121.873513; captureRadius = 10; duration = 82; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.783108 # Actual altitude: 100 # Commanded vehicle depth:300 # Seafloor depth:-397.738403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; 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 = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.892041 meters # Minimum depth: 392.607086 meters looking forward 100.000000 meters along route # Maximum depth: 394.451610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.793907; longitude = -121.872635; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.738403 # Actual altitude: 97.738403 # Commanded vehicle depth:300 # Seafloor depth:-394.451610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 390.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 390.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.392189 meters # Minimum depth: 391.495499 meters looking forward 100.000000 meters along route # Maximum depth: 392.870843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794192; longitude = -121.871514; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.45161 # Actual altitude: 94.45161 # Commanded vehicle depth:300 # Seafloor depth:-392.628844 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.78; MB_Bottom_Detect_Filter_Max_Range = 377.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 82.755403 meters # Minimum depth: 389.569979 meters looking forward 100.000000 meters along route # Maximum depth: 393.088266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794468; longitude = -121.870431; captureRadius = 10; duration = 82; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.032166 # Actual altitude: 93.032166 # Commanded vehicle depth:300 # Seafloor depth:-393.032166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 372.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.358813 meters # Minimum depth: 386.870767 meters looking forward 100.000000 meters along route # Maximum depth: 389.741731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.794709; longitude = -121.869553; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.032166 # Actual altitude: 93.032166 # Commanded vehicle depth:300 # Seafloor depth:-389.741731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.21; MB_Bottom_Detect_Filter_Max_Range = 372.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.358496 meters # Minimum depth: 383.178685 meters looking forward 100.000000 meters along route # Maximum depth: 386.948198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795000; longitude = -121.868488; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.741731 # Actual altitude: 89.741731 # Commanded vehicle depth:300 # Seafloor depth:-386.800820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.90; MB_Bottom_Detect_Filter_Max_Range = 358.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.154170 meters # Minimum depth: 380.421031 meters looking forward 100.000000 meters along route # Maximum depth: 383.207946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795292; longitude = -121.867424; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.80082 # Actual altitude: 86.80082 # Commanded vehicle depth:300 # Seafloor depth:-383.207946 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 347.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 29.332109 meters # Minimum depth: 379.858611 meters looking forward 100.000000 meters along route # Maximum depth: 382.056656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795589; longitude = -121.866340; captureRadius = 10; duration = 29; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.207946 # Actual altitude: 83.207946 # Commanded vehicle depth:300 # Seafloor depth:-381.160576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 332.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 104.394789 meters # Minimum depth: 375.180892 meters looking forward 100.000000 meters along route # Maximum depth: 379.596888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795659; longitude = -121.866023; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.160576 # Actual altitude: 81.160576 # Commanded vehicle depth:300 # Seafloor depth:-379.596888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 324.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 102.899394 meters # Minimum depth: 371.154544 meters looking forward 100.000000 meters along route # Maximum depth: 375.452272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.795906; longitude = -121.864894; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.596888 # Actual altitude: 79.596888 # Commanded vehicle depth:300 # Seafloor depth:-375.452272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.84; MB_Bottom_Detect_Filter_Max_Range = 318.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 101.955161 meters # Minimum depth: 370.699998 meters looking forward 100.000000 meters along route # Maximum depth: 373.635804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796150; longitude = -121.863781; captureRadius = 10; duration = 101; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.452272 # Actual altitude: 75.452272 # Commanded vehicle depth:300 # Seafloor depth:-371.311580 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.18; MB_Bottom_Detect_Filter_Max_Range = 301.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 29.691210 meters # Minimum depth: 370.338885 meters looking forward 100.000000 meters along route # Maximum depth: 373.635804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796392; longitude = -121.862679; captureRadius = 10; duration = 29; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.647026 # Actual altitude: 71.647026 # Commanded vehicle depth:300 # Seafloor depth:-371.647026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.66; MB_Bottom_Detect_Filter_Max_Range = 286.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.520732 meters # Minimum depth: 366.983660 meters looking forward 100.000000 meters along route # Maximum depth: 370.318024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.796635; longitude = -121.862539; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.647026 # Actual altitude: 71.647026 # Commanded vehicle depth:300 # Seafloor depth:-370.318024 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.66; MB_Bottom_Detect_Filter_Max_Range = 286.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 52.215853 meters # Minimum depth: 366.983660 meters looking forward 100.000000 meters along route # Maximum depth: 369.402808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797456; longitude = -121.862063; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.318024 # Actual altitude: 70.318024 # Commanded vehicle depth:300 # Seafloor depth:-367.045723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.13; MB_Bottom_Detect_Filter_Max_Range = 281.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.153756 meters # Minimum depth: 362.929239 meters looking forward 100.000000 meters along route # Maximum depth: 367.092881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.797923; longitude = -121.861995; captureRadius = 10; duration = 100; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.092881 # Actual altitude: 67.092881 # Commanded vehicle depth:300 # Seafloor depth:-367.092881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 268.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 104.335204 meters # Minimum depth: 360.264791 meters looking forward 100.000000 meters along route # Maximum depth: 362.810736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.798820; longitude = -121.861864; captureRadius = 10; duration = 104; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.092881 # Actual altitude: 67.092881 # Commanded vehicle depth:300 # Seafloor depth:-362.765123 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.84; MB_Bottom_Detect_Filter_Max_Range = 268.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 71.778184 meters # Minimum depth: 356.983148 meters looking forward 100.000000 meters along route # Maximum depth: 361.655993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.799754; longitude = -121.861727; captureRadius = 10; duration = 71; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.765123 # Actual altitude: 62.765123 # Commanded vehicle depth:300 # Seafloor depth:-360.090096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 251.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.509206 meters # Minimum depth: 355.602526 meters looking forward 100.000000 meters along route # Maximum depth: 357.729967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.800392; longitude = -121.861596; captureRadius = 10; duration = 102; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.090096 # Actual altitude: 60.090096 # Commanded vehicle depth:300 # Seafloor depth:-357.196047 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 240.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 11.318772 meters # Minimum depth: 355.602526 meters looking forward 100.000000 meters along route # Maximum depth: 357.729967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.801304; longitude = -121.861409; captureRadius = 10; duration = 11; # abortOnTimeout = True; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.196047 # Actual altitude: 57.196047 # Commanded vehicle depth:300 # Seafloor depth:-356.446564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.78; 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 = 228.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 106.180634 meters # Minimum depth: 350.939797 meters looking forward 100.000000 meters along route # Maximum depth: 355.069386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 36.801398; longitude = -121.861359; captureRadius = 10; duration = 106; initialDepth = 300.000000; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.446564 # Actual altitude: 56.446564 # Commanded vehicle depth:300 # Seafloor depth:-355.069386 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.79; 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 = 225.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 88.591555 meters # Minimum depth: 348.229203 meters looking forward 100.000000 meters along route # Maximum depth: 351.352340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.229203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802276; longitude = -121.860886; captureRadius = 10; duration = 88; # abortOnTimeout = True; initialDepth = 298.229203; finalDepth = 300.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.069386 # Actual altitude: 55.069386 # Commanded vehicle depth:298.229203 # Seafloor depth:-351.119453 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.03; MB_Bottom_Detect_Filter_Max_Range = 220.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 101.639866 meters # Minimum depth: 346.166596 meters looking forward 100.000000 meters along route # Maximum depth: 348.240328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.166596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802649; longitude = -121.860008; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 296.166596; finalDepth = 298.229203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.89025 # Actual altitude: 52.89025 # Commanded vehicle depth:296.166596 # Seafloor depth:-348.146217 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.16; MB_Bottom_Detect_Filter_Max_Range = 211.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 27.848753 meters # Minimum depth: 346.008997 meters looking forward 100.000000 meters along route # Maximum depth: 347.431159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.008997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802668; longitude = -121.858869; captureRadius = 10; duration = 27; # abortOnTimeout = True; initialDepth = 296.008997; finalDepth = 296.166596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.979621 # Actual altitude: 51.979621 # Commanded vehicle depth:296.008997 # Seafloor depth:-347.039482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.92; 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 = 207.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.703355 meters # Minimum depth: 317.602408 meters looking forward 100.000000 meters along route # Maximum depth: 345.978015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 267.602408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802826; longitude = -121.858626; captureRadius = 10; duration = 100; initialDepth = 267.602408; finalDepth = 296.008997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.375607 # Actual altitude: 78.375607 # Commanded vehicle depth:267.602408 # Seafloor depth:-345.978015 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.35; MB_Bottom_Detect_Filter_Max_Range = 313.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 101.748039 meters # Minimum depth: 275.192888 meters looking forward 100.000000 meters along route # Maximum depth: 316.430527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.192888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803396; longitude = -121.857748; captureRadius = 10; duration = 101; # abortOnTimeout = True; initialDepth = 225.192888; finalDepth = 267.602408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.237639 # Actual altitude: 91.237639 # Commanded vehicle depth:225.192888 # Seafloor depth:-316.430527 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 364.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 364.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 59.355384 meters # Minimum depth: 272.432461 meters looking forward 100.000000 meters along route # Maximum depth: 297.437216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.432461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803901; longitude = -121.856796; captureRadius = 10; duration = 59; # abortOnTimeout = True; initialDepth = 222.432461; finalDepth = 225.192888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.237639 # Actual altitude: 91.237639 # Commanded vehicle depth:222.432461 # Seafloor depth:-276.013031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 364.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.50; MB_Bottom_Detect_Filter_Max_Range = 364.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.221298 meters # Minimum depth: 262.088767 meters looking forward 100.000000 meters along route # Maximum depth: 281.560745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.088767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804060; longitude = -121.856161; captureRadius = 10; duration = 101; initialDepth = 212.088767; finalDepth = 222.432461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.537778 # Actual altitude: 67.537778 # Commanded vehicle depth:212.088767 # Seafloor depth:-279.626545 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 8.377891 meters # Minimum depth: 262.069564 meters looking forward 100.000000 meters along route # Maximum depth: 281.560745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.069564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804330; longitude = -121.855077; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 212.069564; finalDepth = 212.088767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.537778 # Actual altitude: 67.537778 # Commanded vehicle depth:212.069564 # Seafloor depth:-262.416656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.792184 meters # Minimum depth: 251.628809 meters looking forward 100.000000 meters along route # Maximum depth: 267.247128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.628809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804340; longitude = -121.854984; captureRadius = 10; duration = 100; initialDepth = 201.628809; finalDepth = 212.069564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.71397 # Actual altitude: 59.71397 # Commanded vehicle depth:201.628809 # Seafloor depth:-261.342779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.89; MB_Bottom_Detect_Filter_Max_Range = 238.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.158003 meters # Minimum depth: 236.990624 meters looking forward 100.000000 meters along route # Maximum depth: 262.028294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.990624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804454; longitude = -121.853863; captureRadius = 10; duration = 104; initialDepth = 186.990624; finalDepth = 201.628809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.03767 # Actual altitude: 75.03767 # Commanded vehicle depth:186.990624 # Seafloor depth:-262.028294 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 100.003785 meters # Minimum depth: 214.609214 meters looking forward 100.000000 meters along route # Maximum depth: 237.505760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.609214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804573; longitude = -121.852705; captureRadius = 10; duration = 100; # abortOnTimeout = True; initialDepth = 164.609214; finalDepth = 186.990624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.03767 # Actual altitude: 75.03767 # Commanded vehicle depth:164.609214 # Seafloor depth:-237.505760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.02; MB_Bottom_Detect_Filter_Max_Range = 300.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 101.804687 meters # Minimum depth: 194.705179 meters looking forward 100.000000 meters along route # Maximum depth: 214.203810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.705179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804934; longitude = -121.851678; captureRadius = 10; duration = 101; initialDepth = 144.705179; finalDepth = 164.609214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.896546 # Actual altitude: 72.896546 # Commanded vehicle depth:144.705179 # Seafloor depth:-214.203810 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.16; MB_Bottom_Detect_Filter_Max_Range = 291.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 18.564610 meters # Minimum depth: 191.352779 meters looking forward 100.000000 meters along route # Maximum depth: 208.531440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.352779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805301; longitude = -121.850632; captureRadius = 10; duration = 18; # abortOnTimeout = True; initialDepth = 141.352779; finalDepth = 144.705179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.498631 # Actual altitude: 69.498631 # Commanded vehicle depth:141.352779 # Seafloor depth:-193.933304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 277.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.117565 meters # Minimum depth: 178.749886 meters looking forward 100.000000 meters along route # Maximum depth: 190.558800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.749886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805374; longitude = -121.850445; captureRadius = 10; duration = 100; initialDepth = 128.749886; finalDepth = 141.352779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.808914 # Actual altitude: 61.808914 # Commanded vehicle depth:128.749886 # Seafloor depth:-190.558800 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.117173 meters # Minimum depth: 175.131299 meters looking forward 100.000000 meters along route # Maximum depth: 178.682682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.131299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805770; longitude = -121.849436; captureRadius = 10; duration = 100; initialDepth = 125.131299; finalDepth = 128.749886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.808914 # Actual altitude: 61.808914 # Commanded vehicle depth:125.131299 # Seafloor depth:-178.682682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.116781 meters # Minimum depth: 169.345362 meters looking forward 100.000000 meters along route # Maximum depth: 175.303317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.345362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806166; longitude = -121.848428; captureRadius = 10; duration = 100; initialDepth = 119.345362; finalDepth = 125.131299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.957955 # Actual altitude: 55.957955 # Commanded vehicle depth:119.345362 # Seafloor depth:-175.303317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.944157 meters # Minimum depth: 166.696018 meters looking forward 100.000000 meters along route # Maximum depth: 169.401580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.696018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806561; longitude = -121.847419; captureRadius = 10; duration = 101; initialDepth = 116.696018; finalDepth = 119.345362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.957955 # Actual altitude: 55.957955 # Commanded vehicle depth:116.696018 # Seafloor depth:-169.401580 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 223.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 40.905929 meters # Minimum depth: 165.068899 meters looking forward 100.000000 meters along route # Maximum depth: 168.589779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.068899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806964; longitude = -121.846392; captureRadius = 10; duration = 40; # abortOnTimeout = True; initialDepth = 115.068899; finalDepth = 116.696018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.705562 # Actual altitude: 52.705562 # Commanded vehicle depth:115.068899 # Seafloor depth:-167.308838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.82; 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 = 210.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.218539 meters # Minimum depth: 162.119836 meters looking forward 100.000000 meters along route # Maximum depth: 165.400832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.119836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807177; longitude = -121.846018; captureRadius = 10; duration = 102; initialDepth = 112.119836; finalDepth = 115.068899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.740355 # Actual altitude: 52.740355 # Commanded vehicle depth:112.119836 # Seafloor depth:-164.860191 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.96; 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 = 210.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 90.857584 meters # Minimum depth: 157.370513 meters looking forward 100.000000 meters along route # Maximum depth: 162.542233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.370513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807711; longitude = -121.845084; captureRadius = 10; duration = 90; # abortOnTimeout = True; initialDepth = 107.370513; finalDepth = 112.119836; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.88614 # Actual altitude: 54.88614 # Commanded vehicle depth:107.370513 # Seafloor depth:-162.256653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.781582 meters # Minimum depth: 156.135593 meters looking forward 100.000000 meters along route # Maximum depth: 157.560285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.135593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808178; longitude = -121.844247; captureRadius = 10; duration = 101; initialDepth = 106.135593; finalDepth = 107.370513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.88614 # Actual altitude: 54.88614 # Commanded vehicle depth:106.135593 # Seafloor depth:-157.464908 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 102.565410 meters # Minimum depth: 150.330178 meters looking forward 100.000000 meters along route # Maximum depth: 156.020805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.330178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808701; longitude = -121.843310; captureRadius = 10; duration = 102; # abortOnTimeout = True; initialDepth = 100.330178; finalDepth = 106.135593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.690627 # Actual altitude: 55.690627 # Commanded vehicle depth:100.330178 # Seafloor depth:-156.020805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.549442 meters # Minimum depth: 149.694011 meters looking forward 100.000000 meters along route # Maximum depth: 151.186927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.694011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809131; longitude = -121.842292; captureRadius = 10; duration = 102; initialDepth = 99.694011; finalDepth = 100.330178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.690627 # Actual altitude: 55.690627 # Commanded vehicle depth:99.694011 # Seafloor depth:-151.072846 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 52.183057 meters # Minimum depth: 148.227365 meters looking forward 100.000000 meters along route # Maximum depth: 150.967349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.227365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809560; longitude = -121.841274; captureRadius = 10; duration = 52; # abortOnTimeout = True; initialDepth = 98.227365; finalDepth = 99.694011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.392252 # Actual altitude: 51.392252 # Commanded vehicle depth:98.227365 # Seafloor depth:-149.619617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.052840 meters # Minimum depth: 144.970460 meters looking forward 100.000000 meters along route # Maximum depth: 147.640540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.970460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809859; longitude = -121.840822; captureRadius = 10; duration = 101; initialDepth = 94.970460; finalDepth = 98.227365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.67008 # Actual altitude: 52.67008 # Commanded vehicle depth:94.97046 # Seafloor depth:-147.640540 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 103.631385 meters # Minimum depth: 139.761865 meters looking forward 100.000000 meters along route # Maximum depth: 145.284283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.761865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810438; longitude = -121.839948; captureRadius = 10; duration = 103; # abortOnTimeout = True; initialDepth = 89.761865; finalDepth = 94.970460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.522418 # Actual altitude: 55.522418 # Commanded vehicle depth:89.761865 # Seafloor depth:-145.284283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.408026 meters # Minimum depth: 135.079641 meters looking forward 100.000000 meters along route # Maximum depth: 139.499200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.079641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811316; longitude = -121.839551; captureRadius = 10; duration = 101; initialDepth = 85.079641; finalDepth = 89.761865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.522418 # Actual altitude: 55.522418 # Commanded vehicle depth:85.079641 # Seafloor depth:-139.499200 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 222.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 29.202941 meters # Minimum depth: 134.656056 meters looking forward 100.000000 meters along route # Maximum depth: 139.448603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.656056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812175; longitude = -121.839163; captureRadius = 10; duration = 29; # abortOnTimeout = True; initialDepth = 84.656056; finalDepth = 85.079641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.419559 # Actual altitude: 54.419559 # Commanded vehicle depth:84.656056 # Seafloor depth:-135.528484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.075307 meters # Minimum depth: 130.295255 meters looking forward 100.000000 meters along route # Maximum depth: 134.854343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.295255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812437; longitude = -121.839127; captureRadius = 10; duration = 100; initialDepth = 80.295255; finalDepth = 84.656056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.194519 # Actual altitude: 54.194519 # Commanded vehicle depth:80.295255 # Seafloor depth:-134.489774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.075310 meters # Minimum depth: 127.160665 meters looking forward 100.000000 meters along route # Maximum depth: 130.967404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.160665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813333; longitude = -121.839004; captureRadius = 10; duration = 100; initialDepth = 77.160665; finalDepth = 80.295255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.194519 # Actual altitude: 54.194519 # Commanded vehicle depth:77.160665 # Seafloor depth:-130.967404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.279903 meters # Minimum depth: 120.188386 meters looking forward 100.000000 meters along route # Maximum depth: 126.495815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.188386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814230; longitude = -121.838880; captureRadius = 10; duration = 104; initialDepth = 70.188386; finalDepth = 77.160665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.307429 # Actual altitude: 56.307429 # Commanded vehicle depth:70.188386 # Seafloor depth:-126.495815 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.23; 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 = 225.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 65.776507 meters # Minimum depth: 117.842708 meters looking forward 100.000000 meters along route # Maximum depth: 121.348028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.842708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815164; longitude = -121.838752; captureRadius = 10; duration = 65; # abortOnTimeout = True; initialDepth = 67.842708; finalDepth = 70.188386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.307429 # Actual altitude: 56.307429 # Commanded vehicle depth:67.842708 # Seafloor depth:-120.093166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.23; 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 = 225.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.881421 meters # Minimum depth: 111.002079 meters looking forward 100.000000 meters along route # Maximum depth: 117.589382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.002079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815743; longitude = -121.838592; captureRadius = 10; duration = 102; initialDepth = 61.002079; finalDepth = 67.842708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.587303 # Actual altitude: 56.587303 # Commanded vehicle depth:61.002079 # Seafloor depth:-117.589382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.923158 meters # Minimum depth: 105.767105 meters looking forward 100.000000 meters along route # Maximum depth: 110.945519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.767105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816648; longitude = -121.838341; captureRadius = 10; duration = 100; initialDepth = 55.767105; finalDepth = 61.002079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.587303 # Actual altitude: 56.587303 # Commanded vehicle depth:55.767105 # Seafloor depth:-110.945519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 226.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.902236 meters # Minimum depth: 100.351468 meters looking forward 100.000000 meters along route # Maximum depth: 105.717038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.351468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817536; longitude = -121.838096; captureRadius = 10; duration = 101; initialDepth = 50.351468; finalDepth = 55.767105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.36557 # Actual altitude: 55.36557 # Commanded vehicle depth:50.351468 # Seafloor depth:-105.717038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 104.062376 meters # Minimum depth: 95.007628 meters looking forward 100.000000 meters along route # Maximum depth: 100.100676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.007628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818432; longitude = -121.837847; captureRadius = 10; duration = 104; initialDepth = 45.007628; finalDepth = 50.351468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.36557 # Actual altitude: 55.36557 # Commanded vehicle depth:45.007628 # Seafloor depth:-100.100676 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 221.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 73.883943 meters # Minimum depth: 92.291251 meters looking forward 100.000000 meters along route # Maximum depth: 96.468505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.291251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819348; longitude = -121.837594; captureRadius = 10; duration = 73; # abortOnTimeout = True; initialDepth = 42.291251; finalDepth = 45.007628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.093048 # Actual altitude: 55.093048 # Commanded vehicle depth:42.291251 # Seafloor depth:-95.039782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.04; MB_Bottom_Detect_Filter_Max_Range = 220.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.940827 meters # Minimum depth: 86.835551 meters looking forward 100.000000 meters along route # Maximum depth: 92.288253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 36.835551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820003; longitude = -121.837445; captureRadius = 10; duration = 100; initialDepth = 36.835551; finalDepth = 42.291251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.452702 # Actual altitude: 55.452702 # Commanded vehicle depth:36.835551 # Seafloor depth:-92.288253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.81; 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 = 221.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.124813 meters # Minimum depth: 79.882108 meters looking forward 100.000000 meters along route # Maximum depth: 86.592993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 29.882108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820898; longitude = -121.837241; captureRadius = 10; duration = 101; initialDepth = 29.882108; finalDepth = 36.835551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.646164 # Actual altitude: 56.646164 # Commanded vehicle depth:29.882108 # Seafloor depth:-86.528272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.124793 meters # Minimum depth: 74.838021 meters looking forward 100.000000 meters along route # Maximum depth: 79.705178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 24.838021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821795; longitude = -121.837037; captureRadius = 10; duration = 101; initialDepth = 24.838021; finalDepth = 29.882108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.646164 # Actual altitude: 56.646164 # Commanded vehicle depth:24.838021 # Seafloor depth:-79.603028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.124775 meters # Minimum depth: 70.001276 meters looking forward 100.000000 meters along route # Maximum depth: 74.435241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 20.001276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822691; longitude = -121.836832; captureRadius = 10; duration = 101; initialDepth = 20.001276; finalDepth = 24.838021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.765007 # Actual altitude: 54.765007 # Commanded vehicle depth:20.001276 # Seafloor depth:-74.435241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.124755 meters # Minimum depth: 65.940380 meters looking forward 100.000000 meters along route # Maximum depth: 69.646976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 15.940380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823588; longitude = -121.836628; captureRadius = 10; duration = 101; initialDepth = 15.940380; finalDepth = 20.001276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.433965 # Actual altitude: 54.433965 # Commanded vehicle depth:15.94038 # Seafloor depth:-69.646976 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.762619 meters # Minimum depth: 61.289738 meters looking forward 100.000000 meters along route # Maximum depth: 65.684982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 11.289738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824484; longitude = -121.836424; captureRadius = 10; duration = 104; initialDepth = 11.289738; finalDepth = 15.940380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.395244 # Actual altitude: 54.395244 # Commanded vehicle depth:11.289738 # Seafloor depth:-65.684982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.700363 meters # Minimum depth: 57.675332 meters looking forward 100.000000 meters along route # Maximum depth: 61.138344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.675332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825413; longitude = -121.836212; captureRadius = 10; duration = 101; initialDepth = 7.675332; finalDepth = 11.289738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.395244 # Actual altitude: 54.395244 # Commanded vehicle depth:7.675332 # Seafloor depth:-61.138344 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 53.463012 # Actual altitude: 53.463012 # Commanded vehicle depth:7.454376 # Seafloor depth:-57.454376 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 213.85; 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 = 213.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 57.454376 meters looking forward 100.000000 meters along route # Maximum depth: 61.001819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 7.454376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826315; longitude = -121.836006; captureRadius = 10; duration = 500; initialDepth = 7.454376; finalDepth = 7.675332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 270.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; 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_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 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 = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################