# 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: UpperCanyonAxisV5.rte # Mission File: UpperCanyonAxisV420070227.cfg # Distance: 25632.941170 (m) # Estimated Time: 20263 (s) 5.629 (hr) # Abort Time: 26342 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 300 (s) # Way Points: 147 # Route Points: 330 # 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 -121.817758 36.804604 -41.561634 0.000000 1 # 1 -121.813070 36.805426 -43.607715 428.067233 1 # 2 -121.808811 36.805090 0.000000 809.857435 1 # 3 -121.807186 36.803017 -127.459877 1081.727168 1 # 4 -121.805336 36.803465 -119.768494 1254.100526 1 # 5 -121.801133 36.804362 -87.219402 1642.058875 1 # 6 -121.800610 36.802812 -111.849491 1820.241906 1 # 7 -121.803636 36.802420 -124.861872 2093.696368 1 # 8 -121.807858 36.802233 -140.941677 2470.947126 1 # 9 -121.810268 36.801392 -145.699791 2705.336306 1 # 10 -121.812005 36.800048 -159.181568 2920.397045 1 # 11 -121.813462 36.799488 -159.993366 3064.476151 1 # 12 -121.814022 36.798255 -167.246964 3210.110276 1 # 13 -121.816021 36.798050 -174.465031 3389.911306 1 # 14 -121.818337 36.798928 -180.152164 3618.359246 1 # 15 -121.820168 36.799618 -188.410591 3798.770515 1 # 16 -121.821233 36.799899 -191.563683 3898.774418 1 # 17 -121.821961 36.799562 -188.721733 3973.719516 1 # 18 -121.822092 36.798255 -198.377796 4119.194385 1 # 19 -121.821905 36.796481 -203.079185 4316.715986 1 # 20 -121.821793 36.795361 -206.060200 4441.375065 1 # 21 -121.822466 36.793848 -211.822273 4619.651894 1 # 22 -121.823157 36.792653 -217.531563 4765.866353 1 # 23 -121.823941 36.792205 -219.672192 4851.681420 1 # 24 -121.825324 36.790991 -224.986641 5034.354356 1 # 25 -121.826856 36.789964 -223.284763 5212.314945 1 # 26 -121.828910 36.789199 -233.056248 5414.295905 1 # 27 -121.831171 36.788900 -241.106602 5618.761143 1 # 28 -121.833001 36.789311 -244.429901 5788.304574 1 # 29 -121.835243 36.789927 -244.855633 5999.714791 1 # 30 -121.837447 36.790580 -253.979679 6209.300777 1 # 31 -121.839390 36.791439 -270.007538 6407.142404 1 # 32 -121.841687 36.791944 -279.619232 6619.623223 1 # 33 -121.844340 36.792485 -286.780701 6863.839059 1 # 34 -121.846077 36.793157 -293.734360 7035.828145 1 # 35 -121.848319 36.794054 -301.764816 7259.262439 1 # 36 -121.850168 36.794782 -307.349838 7442.951674 1 # 37 -121.851681 36.795790 -313.171608 7618.253677 1 # 38 -121.853064 36.796705 -318.604805 7778.040784 1 # 39 -121.854483 36.798199 -323.463928 7986.613318 1 # 40 -121.855212 36.799208 -325.539062 8116.079893 1 # 41 -121.858126 36.801617 -330.880951 8488.936863 1 # 42 -121.856837 36.802401 -336.829979 8633.127225 1 # 43 -121.855940 36.801168 -333.877998 8791.610875 1 # 44 -121.854819 36.799768 -327.102493 8976.347738 1 # 45 -121.853680 36.798610 -314.300919 9140.153902 1 # 46 -121.852447 36.797546 -304.254501 9301.513354 1 # 47 -121.851102 36.796369 -308.731285 9478.862574 1 # 48 -121.849701 36.795641 -306.509476 9627.688973 1 # 49 -121.848132 36.795137 -299.411171 9778.437487 1 # 50 -121.846283 36.794465 -292.121956 9959.480317 1 # 51 -121.844452 36.793718 -287.379707 10142.673122 1 # 52 -121.842136 36.793064 -275.632248 10361.692704 1 # 53 -121.839857 36.792485 -267.056152 10574.949491 1 # 54 -121.837949 36.792148 -267.721334 10749.297648 1 # 55 -121.836290 36.792394 -259.284027 10899.801685 1 # 56 -121.835192 36.792316 -253.317261 10998.156878 1 # 57 -121.834251 36.791901 -247.327568 11093.916886 1 # 58 -121.833337 36.791047 -242.537693 11218.930214 1 # 59 -121.832235 36.790412 -236.179203 11339.895013 1 # 60 -121.831059 36.789796 -231.831852 11465.124052 1 # 61 -121.829826 36.789740 -233.328789 11575.322880 1 # 62 -121.828294 36.790095 -231.271954 11717.587171 1 # 63 -121.827117 36.790599 -228.820995 11836.570412 1 # 64 -121.826164 36.791215 -225.423801 11945.666377 1 # 65 -121.825100 36.791888 -220.550926 12066.450369 1 # 66 -121.824259 36.792448 -216.709343 12163.873818 1 # 67 -121.823269 36.793213 -215.139774 12286.375702 1 # 68 -121.822821 36.794558 -208.618580 12440.857497 1 # 69 -121.822653 36.795566 -204.767689 12553.689715 1 # 70 -121.822597 36.796631 -201.075264 12671.951230 1 # 71 -121.822484 36.797695 -200.504192 12790.426008 1 # 72 -121.822410 36.798554 -198.941887 12885.955823 1 # 73 -121.822148 36.799320 -195.870453 12974.095756 1 # 74 -121.821700 36.799824 -191.904186 13042.829275 1 # 75 -121.820616 36.799787 -190.091358 13139.631859 1 # 76 -121.819271 36.799282 -182.799255 13272.069248 1 # 77 -121.817161 36.798647 -176.621742 13473.077721 1 # 78 -121.815125 36.798610 -163.843872 13654.780939 1 # 79 -121.814228 36.799058 -166.782875 13748.991271 1 # 80 -121.813742 36.800104 -164.662945 13872.876002 1 # 81 -121.813294 36.800832 -146.543507 13962.993157 1 # 82 -121.812379 36.801467 -143.889843 14070.824604 1 # 83 -121.810996 36.802233 -130.396027 14220.648601 1 # 84 -121.809296 36.802532 -143.873352 14375.904792 1 # 85 -121.807578 36.802961 -129.774712 14536.400620 1 # 86 -121.805616 36.803857 -112.999985 14737.701568 1 # 87 -121.803580 36.804716 -111.384348 14942.828302 1 # 88 -121.802123 36.805053 -101.257750 15078.085442 1 # 89 -121.801843 36.804156 -89.337114 15180.690628 4 # 90 -121.801582 36.803185 -113.887623 15290.906306 1 # 91 -121.802852 36.803148 -118.225433 15404.286794 1 # 92 -121.804925 36.802980 -121.777124 15590.171549 1 # 93 -121.806775 36.802756 -128.735840 15757.084771 1 # 94 -121.808811 36.802289 -144.669380 15945.977356 1 # 95 -121.810249 36.801747 -149.462055 16087.666590 1 # 96 -121.811930 36.801019 -145.875427 16258.009657 1 # 97 -121.812846 36.800384 -161.227314 16365.909033 1 # 98 -121.813350 36.799880 -160.856674 16437.663301 1 # 99 -121.814134 36.798760 -169.465324 16580.257371 1 # 100 -121.815293 36.798386 -165.603352 16691.680422 1 # 101 -121.816544 36.798479 -173.364506 16803.773832 1 # 102 -121.818767 36.799114 -181.187691 17014.254975 1 # 103 -121.819682 36.799432 -186.200851 17103.189964 1 # 104 -121.820897 36.799843 -190.821815 17220.793387 1 # 105 -121.821905 36.799731 -189.831455 17311.582465 1 # 106 -121.822186 36.798946 -196.261391 17402.210811 1 # 107 -121.822204 36.797807 -199.847542 17528.586884 1 # 108 -121.822260 36.796295 -203.953754 17696.409436 1 # 109 -121.822316 36.795286 -207.776203 17808.463917 1 # 110 -121.822522 36.794297 -210.420101 17919.716921 1 # 111 -121.822914 36.793288 -214.765263 18036.997114 1 # 112 -121.823885 36.792485 -218.057053 18161.268807 1 # 113 -121.824614 36.791925 -219.808193 18251.220447 1 # 114 -121.825660 36.791159 -224.523643 18377.448846 1 # 115 -121.826669 36.790599 -227.630486 18486.838805 1 # 116 -121.827976 36.789908 -230.909695 18626.405228 1 # 117 -121.829415 36.789423 -234.566952 18765.629175 1 # 118 -121.830890 36.789348 -236.643425 18897.510388 1 # 119 -121.832105 36.789703 -235.096958 19012.860233 1 # 120 -121.833337 36.790207 -244.125648 19136.197437 1 # 121 -121.834645 36.790749 -250.123955 19267.491649 1 # 122 -121.836756 36.791271 -254.707245 19464.559582 1 # 123 -121.838792 36.791813 -269.916611 19655.925148 1 # 124 -121.840473 36.792149 -273.131966 19810.482905 1 # 125 -121.842379 36.792653 -279.162003 19989.509773 1 # 126 -121.844265 36.793176 -288.203094 20167.516980 1 # 127 -121.845946 36.793792 -295.069351 20332.344555 1 # 128 -121.848879 36.794894 -304.848122 20621.196607 1 # 129 -121.851289 36.796014 -313.283516 20869.549401 1 # 130 -121.852634 36.797023 -314.703476 21033.661024 1 # 131 -121.853867 36.798199 -319.333855 21204.321438 1 # 132 -121.855025 36.799562 -325.194771 21387.463624 1 # 133 -121.857902 36.802513 -344.838684 21803.484540 1 # 134 -121.856146 36.803036 -315.555527 21970.549055 1 # 135 -121.854745 36.803260 -286.482262 22097.987777 1 # 136 -121.852242 36.803409 -278.705353 22321.906931 1 # 137 -121.849869 36.804100 -238.559368 22547.068652 1 # 138 -121.845330 36.805893 -192.429394 22998.233763 1 # 139 -121.844321 36.806733 -186.090237 23127.801506 1 # 140 -121.842472 36.807629 -172.797337 23320.391750 1 # 141 -121.840249 36.808507 -158.433502 23541.339112 1 # 142 -121.838605 36.809590 -149.381622 23730.933733 1 # 143 -121.837597 36.811887 -141.811504 24001.172414 1 # 144 -121.837111 36.814894 -127.193838 24337.587573 1 # 145 -121.835878 36.819095 -104.243130 24816.466813 1 # 146 -121.834738 36.826397 -57.063843 25632.941170 1 # # A total of 330 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 21600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 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 = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 30.000000; 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 146 # Segment length 14.746437 meters # Minimum depth: 56.304759 meters looking forward 100.000000 meters along route # Maximum depth: 57.226818 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 6.304759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826397; longitude = -121.834738; captureRadius = 10; duration = 14; initialDepth = 6.304759; finalDepth = 6.304759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.759084 # Actual altitude: 50.759084 # Commanded vehicle depth:6.304759 # Seafloor depth:-57.063843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.039455 meters # Minimum depth: 57.126801 meters looking forward 100.000000 meters along route # Maximum depth: 63.179965 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 7.126801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826265; longitude = -121.834759; captureRadius = 10; duration = 100; initialDepth = 7.126801; finalDepth = 6.304759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.759084 # Actual altitude: 50.759084 # Commanded vehicle depth:7.126801 # Seafloor depth:-57.264792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.242540 meters # Minimum depth: 62.457264 meters looking forward 100.000000 meters along route # Maximum depth: 69.702601 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 12.457264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825370; longitude = -121.834898; captureRadius = 10; duration = 100; initialDepth = 12.457264; finalDepth = 7.126801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.811582 # Actual altitude: 50.811582 # Commanded vehicle depth:12.457264 # Seafloor depth:-63.268846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.242540 meters # Minimum depth: 69.284534 meters looking forward 100.000000 meters along route # Maximum depth: 74.742226 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 19.284534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824474; longitude = -121.835038; captureRadius = 10; duration = 100; initialDepth = 19.284534; finalDepth = 12.457264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.811582 # Actual altitude: 50.811582 # Commanded vehicle depth:19.284534 # Seafloor depth:-69.743386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.242541 meters # Minimum depth: 75.000516 meters looking forward 100.000000 meters along route # Maximum depth: 81.501878 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 25.000516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823577; longitude = -121.835178; captureRadius = 10; duration = 100; initialDepth = 25.000516; finalDepth = 19.284534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.458852 # Actual altitude: 50.458852 # Commanded vehicle depth:25.000516 # Seafloor depth:-75.000516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.242541 meters # Minimum depth: 81.532606 meters looking forward 100.000000 meters along route # Maximum depth: 88.574817 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 31.532606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822681; longitude = -121.835318; captureRadius = 10; duration = 100; initialDepth = 31.532606; finalDepth = 25.000516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:31.532606 # Seafloor depth:-81.532606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.242541 meters # Minimum depth: 88.585066 meters looking forward 100.000000 meters along route # Maximum depth: 94.736606 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 38.585066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821784; longitude = -121.835458; captureRadius = 10; duration = 100; initialDepth = 38.585066; finalDepth = 31.532606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:38.585066 # Seafloor depth:-88.585066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.242541 meters # Minimum depth: 94.177501 meters looking forward 100.000000 meters along route # Maximum depth: 100.029001 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 44.177501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820888; longitude = -121.835598; captureRadius = 10; duration = 100; initialDepth = 44.177501; finalDepth = 38.585066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.22921 # Actual altitude: 50.22921 # Commanded vehicle depth:44.177501 # Seafloor depth:-94.406711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 146 # Segment length 100.233221 meters # Minimum depth: 100.083296 meters looking forward 100.000000 meters along route # Maximum depth: 104.251952 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 50.083296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819991; longitude = -121.835738; captureRadius = 10; duration = 100; initialDepth = 50.083296; finalDepth = 44.177501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.22921 # Actual altitude: 50.22921 # Commanded vehicle depth:50.083296 # Seafloor depth:-100.083296 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 145 # Segment length 75.377390 meters # Minimum depth: 103.283646 meters looking forward 100.000000 meters along route # Maximum depth: 106.257303 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 53.283646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819095; longitude = -121.835878; captureRadius = 10; duration = 75; initialDepth = 53.283646; finalDepth = 50.083296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.959484 # Actual altitude: 50.959484 # Commanded vehicle depth:53.283646 # Seafloor depth:-104.243130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 100.916360 meters # Minimum depth: 106.144072 meters looking forward 100.000000 meters along route # Maximum depth: 111.416712 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 56.144072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818434; longitude = -121.836072; captureRadius = 10; duration = 100; initialDepth = 56.144072; finalDepth = 53.283646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.959484 # Actual altitude: 50.959484 # Commanded vehicle depth:56.144072 # Seafloor depth:-106.194446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 100.916402 meters # Minimum depth: 111.627170 meters looking forward 100.000000 meters along route # Maximum depth: 120.007346 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 61.627170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817548; longitude = -121.836332; captureRadius = 10; duration = 100; initialDepth = 61.627170; finalDepth = 56.144072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.050374 # Actual altitude: 50.050374 # Commanded vehicle depth:61.62717 # Seafloor depth:-111.627170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 100.916442 meters # Minimum depth: 120.234390 meters looking forward 100.000000 meters along route # Maximum depth: 127.266196 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 70.234390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816663; longitude = -121.836592; captureRadius = 10; duration = 100; initialDepth = 70.234390; finalDepth = 61.627170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:70.23439 # Seafloor depth:-120.234390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 100.752646 meters # Minimum depth: 126.518459 meters looking forward 100.000000 meters along route # Maximum depth: 127.570454 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 76.518459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815778; longitude = -121.836852; captureRadius = 10; duration = 100; initialDepth = 76.518459; finalDepth = 70.234390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:76.518459 # Seafloor depth:-126.518459 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 35.265196 meters # Minimum depth: 126.827534 meters looking forward 100.000000 meters along route # Maximum depth: 127.745322 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 76.827534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814894; longitude = -121.837111; captureRadius = 10; duration = 35; initialDepth = 76.827534; finalDepth = 76.518459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.366304 # Actual altitude: 50.366304 # Commanded vehicle depth:76.827534 # Seafloor depth:-127.193838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 100.298276 meters # Minimum depth: 127.778689 meters looking forward 100.000000 meters along route # Maximum depth: 131.632541 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 77.778689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814579; longitude = -121.837162; captureRadius = 10; duration = 100; initialDepth = 77.778689; finalDepth = 76.827534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.366304 # Actual altitude: 50.366304 # Commanded vehicle depth:77.778689 # Seafloor depth:-127.778689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 100.298277 meters # Minimum depth: 131.710151 meters looking forward 100.000000 meters along route # Maximum depth: 136.631476 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 81.710151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813682; longitude = -121.837307; captureRadius = 10; duration = 100; initialDepth = 81.710151; finalDepth = 77.778689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:81.710151 # Seafloor depth:-131.710151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 100.553410 meters # Minimum depth: 136.739438 meters looking forward 100.000000 meters along route # Maximum depth: 141.810143 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 86.739438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812786; longitude = -121.837452; captureRadius = 10; duration = 100; initialDepth = 86.739438; finalDepth = 81.710151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:86.739438 # Seafloor depth:-136.739438 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 143 # Segment length 69.606947 meters # Minimum depth: 141.156652 meters looking forward 100.000000 meters along route # Maximum depth: 143.643707 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 91.156652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811887; longitude = -121.837597; captureRadius = 10; duration = 69; initialDepth = 91.156652; finalDepth = 86.739438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.654852 # Actual altitude: 50.654852 # Commanded vehicle depth:91.156652 # Seafloor depth:-141.811504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 100.198542 meters # Minimum depth: 143.712511 meters looking forward 100.000000 meters along route # Maximum depth: 147.275169 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 93.712511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811295; longitude = -121.837857; captureRadius = 10; duration = 100; initialDepth = 93.712511; finalDepth = 91.156652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.654852 # Actual altitude: 50.654852 # Commanded vehicle depth:93.712511 # Seafloor depth:-143.712511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 100.433192 meters # Minimum depth: 147.395822 meters looking forward 100.000000 meters along route # Maximum depth: 149.473907 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 97.395822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810444; longitude = -121.838230; captureRadius = 10; duration = 100; initialDepth = 97.395822; finalDepth = 93.712511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:97.395822 # Seafloor depth:-147.395822 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 142 # Segment length 88.866621 meters # Minimum depth: 149.332382 meters looking forward 100.000000 meters along route # Maximum depth: 154.618615 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 99.332382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809590; longitude = -121.838605; captureRadius = 10; duration = 88; initialDepth = 99.332382; finalDepth = 97.395822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04924 # Actual altitude: 50.04924 # Commanded vehicle depth:99.332382 # Seafloor depth:-149.381622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 100.728000 meters # Minimum depth: 154.630039 meters looking forward 100.000000 meters along route # Maximum depth: 158.649856 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 104.630039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809082; longitude = -121.839376; captureRadius = 10; duration = 100; initialDepth = 104.630039; finalDepth = 99.332382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.04924 # Actual altitude: 50.04924 # Commanded vehicle depth:104.630039 # Seafloor depth:-154.630039 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 141 # Segment length 20.247351 meters # Minimum depth: 156.189498 meters looking forward 100.000000 meters along route # Maximum depth: 159.123868 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 106.189498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808507; longitude = -121.840249; captureRadius = 10; duration = 20; initialDepth = 106.189498; finalDepth = 104.630039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.244004 # Actual altitude: 52.244004 # Commanded vehicle depth:106.189498 # Seafloor depth:-158.433502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 100.109923 meters # Minimum depth: 159.132812 meters looking forward 100.000000 meters along route # Maximum depth: 164.180598 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 109.132812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808427; longitude = -121.840453; captureRadius = 10; duration = 100; initialDepth = 109.132812; finalDepth = 106.189498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.244004 # Actual altitude: 52.244004 # Commanded vehicle depth:109.132812 # Seafloor depth:-159.132812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 141 # Segment length 100.590088 meters # Minimum depth: 164.237005 meters looking forward 100.000000 meters along route # Maximum depth: 172.767998 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 114.237005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808029; longitude = -121.841460; captureRadius = 10; duration = 100; initialDepth = 114.237005; finalDepth = 109.132812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:114.237005 # Seafloor depth:-164.237005 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 140 # Segment length 91.847773 meters # Minimum depth: 171.807807 meters looking forward 100.000000 meters along route # Maximum depth: 179.168092 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 121.807807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807629; longitude = -121.842472; captureRadius = 10; duration = 91; initialDepth = 121.807807; finalDepth = 114.237005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.98953 # Actual altitude: 50.98953 # Commanded vehicle depth:121.807807 # Seafloor depth:-172.797337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 100.742471 meters # Minimum depth: 179.166058 meters looking forward 100.000000 meters along route # Maximum depth: 186.087542 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 129.166058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807202; longitude = -121.843354; captureRadius = 10; duration = 100; initialDepth = 129.166058; finalDepth = 121.807807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.98953 # Actual altitude: 50.98953 # Commanded vehicle depth:129.166058 # Seafloor depth:-179.176596 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 29.170230 meters # Minimum depth: 179.990079 meters looking forward 100.000000 meters along route # Maximum depth: 186.664698 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 129.990079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806733; longitude = -121.844321; captureRadius = 10; duration = 29; initialDepth = 129.990079; finalDepth = 129.166058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.100158 # Actual altitude: 56.100158 # Commanded vehicle depth:129.990079 # Seafloor depth:-186.090237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 100.397513 meters # Minimum depth: 186.678449 meters looking forward 100.000000 meters along route # Maximum depth: 192.366206 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 136.678449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806544; longitude = -121.844548; captureRadius = 10; duration = 100; initialDepth = 136.678449; finalDepth = 129.990079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.100158 # Actual altitude: 56.100158 # Commanded vehicle depth:136.678449 # Seafloor depth:-186.678449 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.44; MB_Bottom_Detect_Filter_Max_Range = 224.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 138 # Segment length 49.737254 meters # Minimum depth: 187.560794 meters looking forward 100.000000 meters along route # Maximum depth: 197.452543 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 137.560794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805893; longitude = -121.845330; captureRadius = 10; duration = 49; initialDepth = 137.560794; finalDepth = 136.678449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8686 # Actual altitude: 54.8686 # Commanded vehicle depth:137.560794 # Seafloor depth:-192.429394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 100.248307 meters # Minimum depth: 197.641097 meters looking forward 100.000000 meters along route # Maximum depth: 204.743680 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 147.641097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805695; longitude = -121.845830; captureRadius = 10; duration = 100; initialDepth = 147.641097; finalDepth = 137.560794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8686 # Actual altitude: 54.8686 # Commanded vehicle depth:147.641097 # Seafloor depth:-197.641097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 100.248703 meters # Minimum depth: 204.858148 meters looking forward 100.000000 meters along route # Maximum depth: 215.296084 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 154.858148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805297; longitude = -121.846839; captureRadius = 10; duration = 100; initialDepth = 154.858148; finalDepth = 147.641097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:154.858148 # Seafloor depth:-204.858148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 100.249096 meters # Minimum depth: 215.358778 meters looking forward 100.000000 meters along route # Maximum depth: 220.914700 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 165.358778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804899; longitude = -121.847848; captureRadius = 10; duration = 100; initialDepth = 165.358778; finalDepth = 154.858148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:165.358778 # Seafloor depth:-215.358778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 100.681751 meters # Minimum depth: 220.891345 meters looking forward 100.000000 meters along route # Maximum depth: 238.537701 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 170.891345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804500; longitude = -121.848856; captureRadius = 10; duration = 100; initialDepth = 170.891345; finalDepth = 165.358778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:170.891345 # Seafloor depth:-220.891345 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 137 # Segment length 24.043322 meters # Minimum depth: 223.918884 meters looking forward 100.000000 meters along route # Maximum depth: 241.614549 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 173.918884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804100; longitude = -121.849869; captureRadius = 10; duration = 24; initialDepth = 173.918884; finalDepth = 170.891345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.640484 # Actual altitude: 64.640484 # Commanded vehicle depth:173.918884 # Seafloor depth:-238.559368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 258.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 101.013924 meters # Minimum depth: 241.682473 meters looking forward 100.000000 meters along route # Maximum depth: 261.751554 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 191.682473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804026; longitude = -121.850122; captureRadius = 10; duration = 101; initialDepth = 191.682473; finalDepth = 173.918884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.640484 # Actual altitude: 64.640484 # Commanded vehicle depth:191.682473 # Seafloor depth:-241.682473 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 258.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 100.104475 meters # Minimum depth: 261.701322 meters looking forward 100.000000 meters along route # Maximum depth: 278.822184 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 211.701322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803716; longitude = -121.851187; captureRadius = 10; duration = 100; initialDepth = 211.701322; finalDepth = 191.682473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:211.701322 # Seafloor depth:-261.701322 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 22.913129 meters # Minimum depth: 272.187234 meters looking forward 100.000000 meters along route # Maximum depth: 278.822184 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 222.187234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803409; longitude = -121.852242; captureRadius = 10; duration = 22; initialDepth = 222.187234; finalDepth = 211.701322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.518119 # Actual altitude: 56.518119 # Commanded vehicle depth:222.187234 # Seafloor depth:-278.705353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 100.251677 meters # Minimum depth: 278.150262 meters looking forward 100.000000 meters along route # Maximum depth: 282.383637 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 228.150262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803394; longitude = -121.852498; captureRadius = 10; duration = 100; initialDepth = 228.150262; finalDepth = 222.187234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.518119 # Actual altitude: 56.518119 # Commanded vehicle depth:228.150262 # Seafloor depth:-278.208717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 100.754348 meters # Minimum depth: 282.422083 meters looking forward 100.000000 meters along route # Maximum depth: 286.442706 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 232.422083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803327; longitude = -121.853619; captureRadius = 10; duration = 100; initialDepth = 232.422083; finalDepth = 228.150262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.058455 # Actual altitude: 50.058455 # Commanded vehicle depth:232.422083 # Seafloor depth:-282.422083 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 135 # Segment length 27.011457 meters # Minimum depth: 283.441655 meters looking forward 100.000000 meters along route # Maximum depth: 287.808226 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 233.441655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803260; longitude = -121.854745; captureRadius = 10; duration = 27; initialDepth = 233.441655; finalDepth = 232.422083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.040607 # Actual altitude: 53.040607 # Commanded vehicle depth:233.441655 # Seafloor depth:-286.482262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 135 # Segment length 100.427265 meters # Minimum depth: 287.972781 meters looking forward 100.000000 meters along route # Maximum depth: 315.602008 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 237.972781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803213; longitude = -121.855042; captureRadius = 10; duration = 100; initialDepth = 237.972781; finalDepth = 233.441655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.040607 # Actual altitude: 53.040607 # Commanded vehicle depth:237.972781 # Seafloor depth:-287.972781 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 134 # Segment length 66.612760 meters # Minimum depth: 308.574034 meters looking forward 100.000000 meters along route # Maximum depth: 326.743752 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 258.574034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803036; longitude = -121.856146; captureRadius = 10; duration = 66; initialDepth = 258.574034; finalDepth = 237.972781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.981493 # Actual altitude: 56.981493 # Commanded vehicle depth:258.574034 # Seafloor depth:-315.555527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 100.451755 meters # Minimum depth: 326.831781 meters looking forward 100.000000 meters along route # Maximum depth: 345.075903 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 276.831781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802827; longitude = -121.856846; captureRadius = 10; duration = 100; initialDepth = 276.831781; finalDepth = 258.574034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.981493 # Actual altitude: 56.981493 # Commanded vehicle depth:276.831781 # Seafloor depth:-326.831781 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 133 # Segment length 13.317532 meters # Minimum depth: 328.671349 meters looking forward 100.000000 meters along route # Maximum depth: 345.075903 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 278.671349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802513; longitude = -121.857902; captureRadius = 10; duration = 13; initialDepth = 278.671349; finalDepth = 276.831781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.167335 # Actual altitude: 66.167335 # Commanded vehicle depth:278.671349 # Seafloor depth:-344.838684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 264.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 100.904396 meters # Minimum depth: 336.918389 meters looking forward 100.000000 meters along route # Maximum depth: 344.105355 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 286.918389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802419; longitude = -121.857810; captureRadius = 10; duration = 100; initialDepth = 286.918389; finalDepth = 278.671349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.167335 # Actual altitude: 66.167335 # Commanded vehicle depth:286.918389 # Seafloor depth:-344.076168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 264.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 100.031199 meters # Minimum depth: 334.430213 meters looking forward 100.000000 meters along route # Maximum depth: 337.194540 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 284.430213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801703; longitude = -121.857112; captureRadius = 10; duration = 100; initialDepth = 284.430213; finalDepth = 286.918389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.157779 # Actual altitude: 57.157779 # Commanded vehicle depth:284.430213 # Seafloor depth:-336.939343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 100.605852 meters # Minimum depth: 329.662936 meters looking forward 100.000000 meters along route # Maximum depth: 334.634996 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 279.662936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800993; longitude = -121.856420; captureRadius = 10; duration = 100; initialDepth = 279.662936; finalDepth = 284.430213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.854489 # Actual altitude: 54.854489 # Commanded vehicle depth:279.662936 # Seafloor depth:-334.517425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 101.161937 meters # Minimum depth: 325.214850 meters looking forward 100.000000 meters along route # Maximum depth: 330.270207 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 275.214850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800280; longitude = -121.855725; captureRadius = 10; duration = 101; initialDepth = 275.214850; finalDepth = 279.662936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.854489 # Actual altitude: 54.854489 # Commanded vehicle depth:275.21485 # Seafloor depth:-330.050312 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 132 # Segment length 82.765845 meters # Minimum depth: 323.510893 meters looking forward 100.000000 meters along route # Maximum depth: 326.654666 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 273.510893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799562; longitude = -121.855025; captureRadius = 10; duration = 82; initialDepth = 273.510893; finalDepth = 275.214850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.835462 # Actual altitude: 54.835462 # Commanded vehicle depth:273.510893 # Seafloor depth:-325.194771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 100.376341 meters # Minimum depth: 319.312800 meters looking forward 100.000000 meters along route # Maximum depth: 323.552514 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 269.312800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798946; longitude = -121.854502; captureRadius = 10; duration = 100; initialDepth = 269.312800; finalDepth = 273.510893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.155926 # Actual altitude: 54.155926 # Commanded vehicle depth:269.3128 # Seafloor depth:-323.468726 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 131 # Segment length 70.478569 meters # Minimum depth: 317.047879 meters looking forward 100.000000 meters along route # Maximum depth: 320.098006 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 267.047879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798199; longitude = -121.853867; captureRadius = 10; duration = 70; initialDepth = 267.047879; finalDepth = 269.312800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.155926 # Actual altitude: 54.155926 # Commanded vehicle depth:267.047879 # Seafloor depth:-319.333855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.66; MB_Bottom_Detect_Filter_Max_Range = 216.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 100.181845 meters # Minimum depth: 314.680644 meters looking forward 100.000000 meters along route # Maximum depth: 317.037373 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 264.680644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797713; longitude = -121.853358; captureRadius = 10; duration = 100; initialDepth = 264.680644; finalDepth = 267.047879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.356729 # Actual altitude: 52.356729 # Commanded vehicle depth:264.680644 # Seafloor depth:-317.037373 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 63.068392 meters # Minimum depth: 313.491978 meters looking forward 100.000000 meters along route # Maximum depth: 315.588752 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 263.491978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797023; longitude = -121.852634; captureRadius = 10; duration = 63; initialDepth = 263.491978; finalDepth = 264.680644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.356729 # Actual altitude: 52.356729 # Commanded vehicle depth:263.491978 # Seafloor depth:-314.703476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 101.043231 meters # Minimum depth: 312.329421 meters looking forward 100.000000 meters along route # Maximum depth: 313.486876 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 262.329421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796635; longitude = -121.852117; captureRadius = 10; duration = 101; initialDepth = 262.329421; finalDepth = 263.491978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.211498 # Actual altitude: 51.211498 # Commanded vehicle depth:262.329421 # Seafloor depth:-313.486876 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 47.465970 meters # Minimum depth: 311.943215 meters looking forward 100.000000 meters along route # Maximum depth: 313.389775 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 261.943215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796014; longitude = -121.851289; captureRadius = 10; duration = 47; initialDepth = 261.943215; finalDepth = 262.329421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.340301 # Actual altitude: 51.340301 # Commanded vehicle depth:261.943215 # Seafloor depth:-313.283516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 100.469003 meters # Minimum depth: 309.063228 meters looking forward 100.000000 meters along route # Maximum depth: 311.878643 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 259.063228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795800; longitude = -121.850828; captureRadius = 10; duration = 100; initialDepth = 259.063228; finalDepth = 261.943215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.795884 # Actual altitude: 52.795884 # Commanded vehicle depth:259.063228 # Seafloor depth:-311.859112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 100.417821 meters # Minimum depth: 304.872932 meters looking forward 100.000000 meters along route # Maximum depth: 309.183350 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 254.872932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795347; longitude = -121.849853; captureRadius = 10; duration = 100; initialDepth = 254.872932; finalDepth = 259.063228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.310418 # Actual altitude: 54.310418 # Commanded vehicle depth:254.872932 # Seafloor depth:-309.183350 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 128 # Segment length 88.339631 meters # Minimum depth: 302.651690 meters looking forward 100.000000 meters along route # Maximum depth: 305.946274 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 252.651690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794894; longitude = -121.848879; captureRadius = 10; duration = 88; initialDepth = 252.651690; finalDepth = 254.872932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.310418 # Actual altitude: 54.310418 # Commanded vehicle depth:252.65169 # Seafloor depth:-304.848122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 100.430595 meters # Minimum depth: 298.206522 meters looking forward 100.000000 meters along route # Maximum depth: 302.555319 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 248.206522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794557; longitude = -121.847982; captureRadius = 10; duration = 100; initialDepth = 248.206522; finalDepth = 252.651690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.348797 # Actual altitude: 54.348797 # Commanded vehicle depth:248.206522 # Seafloor depth:-302.555319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 100.081826 meters # Minimum depth: 294.486742 meters looking forward 100.000000 meters along route # Maximum depth: 298.816679 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 244.486742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794174; longitude = -121.846962; captureRadius = 10; duration = 100; initialDepth = 244.486742; finalDepth = 248.206522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.348797 # Actual altitude: 54.348797 # Commanded vehicle depth:244.486742 # Seafloor depth:-298.816679 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 127 # Segment length 64.078650 meters # Minimum depth: 291.723278 meters looking forward 100.000000 meters along route # Maximum depth: 295.706833 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 241.723278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793792; longitude = -121.845946; captureRadius = 10; duration = 64; initialDepth = 241.723278; finalDepth = 244.486742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.329937 # Actual altitude: 54.329937 # Commanded vehicle depth:241.723278 # Seafloor depth:-295.069351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 100.748925 meters # Minimum depth: 288.072337 meters looking forward 100.000000 meters along route # Maximum depth: 292.077618 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 238.072337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793553; longitude = -121.845292; captureRadius = 10; duration = 100; initialDepth = 238.072337; finalDepth = 241.723278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.821724 # Actual altitude: 53.821724 # Commanded vehicle depth:238.072337 # Seafloor depth:-291.894061 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.53; MB_Bottom_Detect_Filter_Max_Range = 215.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 77.540171 meters # Minimum depth: 282.976093 meters looking forward 100.000000 meters along route # Maximum depth: 288.871363 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 232.976093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793176; longitude = -121.844265; captureRadius = 10; duration = 77; initialDepth = 232.976093; finalDepth = 238.072337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.227001 # Actual altitude: 55.227001 # Commanded vehicle depth:232.976093 # Seafloor depth:-288.203094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 100.467036 meters # Minimum depth: 279.175989 meters looking forward 100.000000 meters along route # Maximum depth: 283.477992 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 229.175989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792948; longitude = -121.843443; captureRadius = 10; duration = 100; initialDepth = 229.175989; finalDepth = 232.976093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.227001 # Actual altitude: 55.227001 # Commanded vehicle depth:229.175989 # Seafloor depth:-282.946014 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.09; MB_Bottom_Detect_Filter_Max_Range = 220.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 78.956971 meters # Minimum depth: 276.616610 meters looking forward 100.000000 meters along route # Maximum depth: 279.463026 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 226.616610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792653; longitude = -121.842379; captureRadius = 10; duration = 78; initialDepth = 226.616610; finalDepth = 229.175989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.770025 # Actual altitude: 53.770025 # Commanded vehicle depth:226.61661 # Seafloor depth:-279.162003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 215.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 100.069897 meters # Minimum depth: 273.071864 meters looking forward 100.000000 meters along route # Maximum depth: 276.561406 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 223.071864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792431; longitude = -121.841538; captureRadius = 10; duration = 100; initialDepth = 223.071864; finalDepth = 226.616610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.489542 # Actual altitude: 53.489542 # Commanded vehicle depth:223.071864 # Seafloor depth:-276.561406 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 54.535702 meters # Minimum depth: 271.852980 meters looking forward 100.000000 meters along route # Maximum depth: 274.111396 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 221.852980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792149; longitude = -121.840473; captureRadius = 10; duration = 54; initialDepth = 221.852980; finalDepth = 223.071864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.489542 # Actual altitude: 53.489542 # Commanded vehicle depth:221.85298 # Seafloor depth:-273.131966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 100.022055 meters # Minimum depth: 269.303805 meters looking forward 100.000000 meters along route # Maximum depth: 273.106917 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 219.303805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792030; longitude = -121.839880; captureRadius = 10; duration = 100; initialDepth = 219.303805; finalDepth = 221.852980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.713741 # Actual altitude: 53.713741 # Commanded vehicle depth:219.303805 # Seafloor depth:-273.017546 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.49; MB_Bottom_Detect_Filter_Max_Range = 214.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 90.502817 meters # Minimum depth: 263.086516 meters looking forward 100.000000 meters along route # Maximum depth: 270.960505 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 213.086516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791813; longitude = -121.838792; captureRadius = 10; duration = 90; initialDepth = 213.086516; finalDepth = 219.303805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.830095 # Actual altitude: 56.830095 # Commanded vehicle depth:213.086516 # Seafloor depth:-269.916611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 227.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 100.862749 meters # Minimum depth: 254.704875 meters looking forward 100.000000 meters along route # Maximum depth: 262.972869 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 204.704875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791557; longitude = -121.837829; captureRadius = 10; duration = 100; initialDepth = 204.704875; finalDepth = 213.086516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.267994 # Actual altitude: 58.267994 # Commanded vehicle depth:204.704875 # Seafloor depth:-262.972869 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 96.495955 meters # Minimum depth: 251.455177 meters looking forward 100.000000 meters along route # Maximum depth: 254.818086 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 201.455177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791271; longitude = -121.836756; captureRadius = 10; duration = 96; initialDepth = 201.455177; finalDepth = 204.704875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.267994 # Actual altitude: 58.267994 # Commanded vehicle depth:201.455177 # Seafloor depth:-254.707245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.31; MB_Bottom_Detect_Filter_Max_Range = 233.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 100.571978 meters # Minimum depth: 250.182996 meters looking forward 100.000000 meters along route # Maximum depth: 253.152893 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 200.182996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791015; longitude = -121.835722; captureRadius = 10; duration = 100; initialDepth = 200.182996; finalDepth = 201.455177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.252068 # Actual altitude: 53.252068 # Commanded vehicle depth:200.182996 # Seafloor depth:-251.645834 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 213.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 30.217935 meters # Minimum depth: 248.845823 meters looking forward 100.000000 meters along route # Maximum depth: 252.930801 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 198.845823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790749; longitude = -121.834645; captureRadius = 10; duration = 30; initialDepth = 198.845823; finalDepth = 200.182996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.462838 # Actual altitude: 51.462838 # Commanded vehicle depth:198.845823 # Seafloor depth:-250.123955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 101.076277 meters # Minimum depth: 244.179539 meters looking forward 100.000000 meters along route # Maximum depth: 248.797037 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 194.179539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790624; longitude = -121.834344; captureRadius = 10; duration = 101; initialDepth = 194.179539; finalDepth = 198.845823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.617498 # Actual altitude: 54.617498 # Commanded vehicle depth:194.179539 # Seafloor depth:-248.797037 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 22.598396 meters # Minimum depth: 242.443348 meters looking forward 100.000000 meters along route # Maximum depth: 247.813183 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 192.443348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790207; longitude = -121.833337; captureRadius = 10; duration = 22; initialDepth = 192.443348; finalDepth = 194.179539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.617498 # Actual altitude: 54.617498 # Commanded vehicle depth:192.443348 # Seafloor depth:-244.125648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 218.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 100.738808 meters # Minimum depth: 235.115274 meters looking forward 100.000000 meters along route # Maximum depth: 242.431969 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 185.115274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790115; longitude = -121.833111; captureRadius = 10; duration = 100; initialDepth = 185.115274; finalDepth = 192.443348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.316695 # Actual altitude: 57.316695 # Commanded vehicle depth:185.115274 # Seafloor depth:-242.431969 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 15.262984 meters # Minimum depth: 234.225894 meters looking forward 100.000000 meters along route # Maximum depth: 241.342806 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 184.225894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789703; longitude = -121.832105; captureRadius = 10; duration = 15; initialDepth = 184.225894; finalDepth = 185.115274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.316695 # Actual altitude: 57.316695 # Commanded vehicle depth:184.225894 # Seafloor depth:-235.096958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 100.086861 meters # Minimum depth: 230.898167 meters looking forward 100.000000 meters along route # Maximum depth: 236.607790 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 180.898167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789656; longitude = -121.831944; captureRadius = 10; duration = 100; initialDepth = 180.898167; finalDepth = 184.225894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.319807 # Actual altitude: 53.319807 # Commanded vehicle depth:180.898167 # Seafloor depth:-234.217974 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 213.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 31.846129 meters # Minimum depth: 230.898167 meters looking forward 100.000000 meters along route # Maximum depth: 237.547423 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 180.898167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789348; longitude = -121.830890; captureRadius = 10; duration = 31; initialDepth = 180.898167; finalDepth = 180.898167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.745258 # Actual altitude: 55.745258 # Commanded vehicle depth:180.898167 # Seafloor depth:-236.643425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 222.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 100.035084 meters # Minimum depth: 234.481193 meters looking forward 100.000000 meters along route # Maximum depth: 237.944300 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 184.481193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789366; longitude = -121.830534; captureRadius = 10; duration = 100; initialDepth = 184.481193; finalDepth = 180.898167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.745258 # Actual altitude: 55.745258 # Commanded vehicle depth:184.481193 # Seafloor depth:-237.506388 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 222.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 39.206317 meters # Minimum depth: 233.910669 meters looking forward 100.000000 meters along route # Maximum depth: 237.944300 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 183.910669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789423; longitude = -121.829415; captureRadius = 10; duration = 39; initialDepth = 183.910669; finalDepth = 184.481193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.025195 # Actual altitude: 53.025195 # Commanded vehicle depth:183.910669 # Seafloor depth:-234.566952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 100.017630 meters # Minimum depth: 230.869124 meters looking forward 100.000000 meters along route # Maximum depth: 234.350865 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 180.869124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789560; longitude = -121.829010; captureRadius = 10; duration = 100; initialDepth = 180.869124; finalDepth = 183.910669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.227707 # Actual altitude: 53.227707 # Commanded vehicle depth:180.869124 # Seafloor depth:-234.096831 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 39.191353 meters # Minimum depth: 230.851831 meters looking forward 100.000000 meters along route # Maximum depth: 233.335529 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 180.851831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789908; longitude = -121.827976; captureRadius = 10; duration = 39; initialDepth = 180.851831; finalDepth = 180.869124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.227707 # Actual altitude: 53.227707 # Commanded vehicle depth:180.851831 # Seafloor depth:-230.909695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 212.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 100.375070 meters # Minimum depth: 227.706280 meters looking forward 100.000000 meters along route # Maximum depth: 230.951748 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 177.706280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790102; longitude = -121.827609; captureRadius = 10; duration = 100; initialDepth = 177.706280; finalDepth = 180.851831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.245468 # Actual altitude: 53.245468 # Commanded vehicle depth:177.70628 # Seafloor depth:-230.951748 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 8.649994 meters # Minimum depth: 227.075122 meters looking forward 100.000000 meters along route # Maximum depth: 230.009786 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 177.075122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790599; longitude = -121.826669; captureRadius = 10; duration = 8; initialDepth = 177.075122; finalDepth = 177.706280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.245468 # Actual altitude: 53.245468 # Commanded vehicle depth:177.075122 # Seafloor depth:-227.630486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 100.739965 meters # Minimum depth: 224.503330 meters looking forward 100.000000 meters along route # Maximum depth: 227.307846 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 174.503330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790643; longitude = -121.826589; captureRadius = 10; duration = 100; initialDepth = 174.503330; finalDepth = 177.075122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.559723 # Actual altitude: 52.559723 # Commanded vehicle depth:174.50333 # Seafloor depth:-227.063053 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 25.804060 meters # Minimum depth: 223.341048 meters looking forward 100.000000 meters along route # Maximum depth: 227.218428 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 173.341048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791159; longitude = -121.825660; captureRadius = 10; duration = 25; initialDepth = 173.341048; finalDepth = 174.503330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.559723 # Actual altitude: 52.559723 # Commanded vehicle depth:173.341048 # Seafloor depth:-224.523643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 100.424339 meters # Minimum depth: 219.837378 meters looking forward 100.000000 meters along route # Maximum depth: 223.333639 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 169.837378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791316; longitude = -121.825446; captureRadius = 10; duration = 100; initialDepth = 169.837378; finalDepth = 173.341048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.496261 # Actual altitude: 53.496261 # Commanded vehicle depth:169.837378 # Seafloor depth:-223.333639 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 89.951640 meters # Minimum depth: 217.896928 meters looking forward 100.000000 meters along route # Maximum depth: 220.424089 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 167.896928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791925; longitude = -121.824614; captureRadius = 10; duration = 89; initialDepth = 167.896928; finalDepth = 169.837378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.496261 # Actual altitude: 53.496261 # Commanded vehicle depth:167.896928 # Seafloor depth:-219.808193 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 23.933654 meters # Minimum depth: 217.857708 meters looking forward 100.000000 meters along route # Maximum depth: 220.424089 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 167.857708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.823885; captureRadius = 10; duration = 23; initialDepth = 167.857708; finalDepth = 167.896928; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.911265 # Actual altitude: 51.911265 # Commanded vehicle depth:167.857708 # Seafloor depth:-218.057053 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 100.338039 meters # Minimum depth: 214.648919 meters looking forward 100.000000 meters along route # Maximum depth: 218.069810 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 164.648919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792640; longitude = -121.823698; captureRadius = 10; duration = 100; initialDepth = 164.648919; finalDepth = 167.857708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.246762 # Actual altitude: 53.246762 # Commanded vehicle depth:164.648919 # Seafloor depth:-217.895681 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 16.896920 meters # Minimum depth: 214.648919 meters looking forward 100.000000 meters along route # Maximum depth: 217.679843 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 164.648919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793288; longitude = -121.822914; captureRadius = 10; duration = 16; initialDepth = 164.648919; finalDepth = 164.648919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.246762 # Actual altitude: 53.246762 # Commanded vehicle depth:164.648919 # Seafloor depth:-214.765263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 100.383273 meters # Minimum depth: 210.315527 meters looking forward 100.000000 meters along route # Maximum depth: 214.640724 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 160.315527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793433; longitude = -121.822858; captureRadius = 10; duration = 100; initialDepth = 160.315527; finalDepth = 164.648919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.325197 # Actual altitude: 54.325197 # Commanded vehicle depth:160.315527 # Seafloor depth:-214.640724 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 11.168257 meters # Minimum depth: 210.006373 meters looking forward 100.000000 meters along route # Maximum depth: 214.189236 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 160.006373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794297; longitude = -121.822522; captureRadius = 10; duration = 11; initialDepth = 160.006373; finalDepth = 160.315527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.325197 # Actual altitude: 54.325197 # Commanded vehicle depth:160.006373 # Seafloor depth:-210.420101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.73; MB_Bottom_Detect_Filter_Max_Range = 217.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 100.084747 meters # Minimum depth: 207.632087 meters looking forward 100.000000 meters along route # Maximum depth: 210.688271 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 157.632087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794396; longitude = -121.822501; captureRadius = 10; duration = 100; initialDepth = 157.632087; finalDepth = 160.006373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.50138 # Actual altitude: 52.50138 # Commanded vehicle depth:157.632087 # Seafloor depth:-210.133467 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 11.954017 meters # Minimum depth: 207.166570 meters looking forward 100.000000 meters along route # Maximum depth: 210.688271 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 157.166570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795286; longitude = -121.822316; captureRadius = 10; duration = 11; initialDepth = 157.166570; finalDepth = 157.632087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.50138 # Actual altitude: 52.50138 # Commanded vehicle depth:157.16657 # Seafloor depth:-207.776203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 100.100464 meters # Minimum depth: 203.972058 meters looking forward 100.000000 meters along route # Maximum depth: 206.886527 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 153.972058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795394; longitude = -121.822310; captureRadius = 10; duration = 100; initialDepth = 153.972058; finalDepth = 157.166570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.914469 # Actual altitude: 52.914469 # Commanded vehicle depth:153.972058 # Seafloor depth:-206.886527 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 66.627509 meters # Minimum depth: 201.750027 meters looking forward 100.000000 meters along route # Maximum depth: 205.421221 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 151.750027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796295; longitude = -121.822260; captureRadius = 10; duration = 66; initialDepth = 151.750027; finalDepth = 153.972058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.914469 # Actual altitude: 52.914469 # Commanded vehicle depth:151.750027 # Seafloor depth:-203.953754 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 101.195043 meters # Minimum depth: 199.809961 meters looking forward 100.000000 meters along route # Maximum depth: 202.804620 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 149.809961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796895; longitude = -121.822238; captureRadius = 10; duration = 101; initialDepth = 149.809961; finalDepth = 151.750027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.203727 # Actual altitude: 52.203727 # Commanded vehicle depth:149.809961 # Seafloor depth:-201.870741 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 25.665983 meters # Minimum depth: 199.194616 meters looking forward 100.000000 meters along route # Maximum depth: 202.804620 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 149.194616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797807; longitude = -121.822204; captureRadius = 10; duration = 25; initialDepth = 149.194616; finalDepth = 149.809961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.06078 # Actual altitude: 52.06078 # Commanded vehicle depth:149.194616 # Seafloor depth:-199.847542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 100.710090 meters # Minimum depth: 196.235098 meters looking forward 100.000000 meters along route # Maximum depth: 199.404963 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 146.235098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798038; longitude = -121.822200; captureRadius = 10; duration = 100; initialDepth = 146.235098; finalDepth = 149.194616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.912306 # Actual altitude: 52.912306 # Commanded vehicle depth:146.235098 # Seafloor depth:-199.147404 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.65; 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 = 211.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 90.628346 meters # Minimum depth: 189.103906 meters looking forward 100.000000 meters along route # Maximum depth: 196.569845 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 139.103906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798946; longitude = -121.822186; captureRadius = 10; duration = 90; initialDepth = 139.103906; finalDepth = 146.235098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.157485 # Actual altitude: 57.157485 # Commanded vehicle depth:139.103906 # Seafloor depth:-196.261391 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 90.789078 meters # Minimum depth: 188.530785 meters looking forward 100.000000 meters along route # Maximum depth: 191.552819 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 138.530785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799731; longitude = -121.821905; captureRadius = 10; duration = 90; initialDepth = 138.530785; finalDepth = 139.103906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.157485 # Actual altitude: 57.157485 # Commanded vehicle depth:138.530785 # Seafloor depth:-189.831455 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.86; MB_Bottom_Detect_Filter_Max_Range = 228.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 17.410649 meters # Minimum depth: 188.530785 meters looking forward 100.000000 meters along route # Maximum depth: 191.552819 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 138.530785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799843; longitude = -121.820897; captureRadius = 10; duration = 17; initialDepth = 138.530785; finalDepth = 138.530785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.29103 # Actual altitude: 52.29103 # Commanded vehicle depth:138.530785 # Seafloor depth:-190.821815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.192774 meters # Minimum depth: 186.357159 meters looking forward 100.000000 meters along route # Maximum depth: 190.286880 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 136.357159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799782; longitude = -121.820717; captureRadius = 10; duration = 100; initialDepth = 136.357159; finalDepth = 138.530785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.438421 # Actual altitude: 53.438421 # Commanded vehicle depth:136.357159 # Seafloor depth:-189.795580 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 88.934989 meters # Minimum depth: 181.162877 meters looking forward 100.000000 meters along route # Maximum depth: 187.772385 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 131.162877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799432; longitude = -121.819682; captureRadius = 10; duration = 88; initialDepth = 131.162877; finalDepth = 136.357159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.037974 # Actual altitude: 55.037974 # Commanded vehicle depth:131.162877 # Seafloor depth:-186.200851 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 9.527410 meters # Minimum depth: 181.050944 meters looking forward 100.000000 meters along route # Maximum depth: 186.596381 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 131.050944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799114; longitude = -121.818767; captureRadius = 10; duration = 9; initialDepth = 131.050944; finalDepth = 131.162877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.037974 # Actual altitude: 55.037974 # Commanded vehicle depth:131.050944 # Seafloor depth:-181.187691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 220.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.799404 meters # Minimum depth: 178.099692 meters looking forward 100.000000 meters along route # Maximum depth: 181.770254 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 128.099692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799085; longitude = -121.818666; captureRadius = 10; duration = 100; initialDepth = 128.099692; finalDepth = 131.050944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.876337 # Actual altitude: 52.876337 # Commanded vehicle depth:128.099692 # Seafloor depth:-180.976029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.154329 meters # Minimum depth: 173.379200 meters looking forward 100.000000 meters along route # Maximum depth: 178.174097 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 123.379200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798781; longitude = -121.817602; captureRadius = 10; duration = 100; initialDepth = 123.379200; finalDepth = 128.099692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.774642 # Actual altitude: 54.774642 # Commanded vehicle depth:123.3792 # Seafloor depth:-178.153842 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.10; 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 = 219.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 11.656092 meters # Minimum depth: 172.863998 meters looking forward 100.000000 meters along route # Maximum depth: 177.786854 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 122.863998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798479; longitude = -121.816544; captureRadius = 10; duration = 11; initialDepth = 122.863998; finalDepth = 123.379200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.774642 # Actual altitude: 54.774642 # Commanded vehicle depth:122.863998 # Seafloor depth:-173.364506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.10; 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 = 219.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 100.437318 meters # Minimum depth: 165.484115 meters looking forward 100.000000 meters along route # Maximum depth: 172.739041 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 115.484115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798469; longitude = -121.816414; captureRadius = 10; duration = 100; initialDepth = 115.484115; finalDepth = 122.863998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.254926 # Actual altitude: 57.254926 # Commanded vehicle depth:115.484115 # Seafloor depth:-172.739041 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 229.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 10.745898 meters # Minimum depth: 165.484115 meters looking forward 100.000000 meters along route # Maximum depth: 171.556399 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 115.484115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798386; longitude = -121.815293; captureRadius = 10; duration = 10; initialDepth = 115.484115; finalDepth = 115.484115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.254926 # Actual altitude: 57.254926 # Commanded vehicle depth:115.484115 # Seafloor depth:-165.603352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 229.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 100.677153 meters # Minimum depth: 165.937825 meters looking forward 100.000000 meters along route # Maximum depth: 169.499842 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 115.937825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798422; longitude = -121.815181; captureRadius = 10; duration = 100; initialDepth = 115.937825; finalDepth = 115.484115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.119237 # Actual altitude: 50.119237 # Commanded vehicle depth:115.937825 # Seafloor depth:-165.937825 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 42.232334 meters # Minimum depth: 166.912770 meters looking forward 100.000000 meters along route # Maximum depth: 169.499842 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 116.912770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798760; longitude = -121.814134; captureRadius = 10; duration = 42; initialDepth = 116.912770; finalDepth = 115.937825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.552554 # Actual altitude: 52.552554 # Commanded vehicle depth:116.91277 # Seafloor depth:-169.465324 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 100.361736 meters # Minimum depth: 160.590582 meters looking forward 100.000000 meters along route # Maximum depth: 168.628749 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 110.590582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799092; longitude = -121.813902; captureRadius = 10; duration = 100; initialDepth = 110.590582; finalDepth = 116.912770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.664427 # Actual altitude: 57.664427 # Commanded vehicle depth:110.590582 # Seafloor depth:-168.255009 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 71.754268 meters # Minimum depth: 160.590582 meters looking forward 100.000000 meters along route # Maximum depth: 162.261318 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 110.590582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799880; longitude = -121.813350; captureRadius = 10; duration = 71; initialDepth = 110.590582; finalDepth = 110.590582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.664427 # Actual altitude: 57.664427 # Commanded vehicle depth:110.590582 # Seafloor depth:-160.856674 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 230.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 7.411591 meters # Minimum depth: 159.785848 meters looking forward 100.000000 meters along route # Maximum depth: 162.261318 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 109.785848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800384; longitude = -121.812846; captureRadius = 10; duration = 7; initialDepth = 109.785848; finalDepth = 110.590582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.441466 # Actual altitude: 51.441466 # Commanded vehicle depth:109.785848 # Seafloor depth:-161.227314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.487785 meters # Minimum depth: 145.382804 meters looking forward 100.000000 meters along route # Maximum depth: 159.529751 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 95.382804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800428; longitude = -121.812783; captureRadius = 10; duration = 100; initialDepth = 95.382804; finalDepth = 109.785848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.146947 # Actual altitude: 64.146947 # Commanded vehicle depth:95.382804 # Seafloor depth:-159.529751 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 70.263973 meters # Minimum depth: 145.382804 meters looking forward 100.000000 meters along route # Maximum depth: 148.109115 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 95.382804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801019; longitude = -121.811930; captureRadius = 10; duration = 70; initialDepth = 95.382804; finalDepth = 95.382804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.146947 # Actual altitude: 64.146947 # Commanded vehicle depth:95.382804 # Seafloor depth:-145.875427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.079094 meters # Minimum depth: 147.823150 meters looking forward 100.000000 meters along route # Maximum depth: 154.816396 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 97.823150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801319; longitude = -121.811237; captureRadius = 10; duration = 100; initialDepth = 97.823150; finalDepth = 95.382804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.492623 # Actual altitude: 50.492623 # Commanded vehicle depth:97.82315 # Seafloor depth:-147.823150 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 41.170352 meters # Minimum depth: 148.249762 meters looking forward 100.000000 meters along route # Maximum depth: 153.721085 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 98.249762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801747; longitude = -121.810249; captureRadius = 10; duration = 41; initialDepth = 98.249762; finalDepth = 97.823150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.212293 # Actual altitude: 51.212293 # Commanded vehicle depth:98.249762 # Seafloor depth:-149.462055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.518882 meters # Minimum depth: 144.782102 meters looking forward 100.000000 meters along route # Maximum depth: 149.205576 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 94.782102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801904; longitude = -121.809831; captureRadius = 10; duration = 100; initialDepth = 94.782102; finalDepth = 98.249762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.564032 # Actual altitude: 53.564032 # Commanded vehicle depth:94.782102 # Seafloor depth:-148.346134 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 87.903402 meters # Minimum depth: 139.053629 meters looking forward 100.000000 meters along route # Maximum depth: 145.242503 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 89.053629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802289; longitude = -121.808811; captureRadius = 10; duration = 87; initialDepth = 89.053629; finalDepth = 94.782102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.615751 # Actual altitude: 55.615751 # Commanded vehicle depth:89.053629 # Seafloor depth:-144.669380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.989183 meters # Minimum depth: 128.726381 meters looking forward 100.000000 meters along route # Maximum depth: 138.992089 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 78.726381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802506; longitude = -121.807864; captureRadius = 10; duration = 100; initialDepth = 78.726381; finalDepth = 89.053629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.265708 # Actual altitude: 60.265708 # Commanded vehicle depth:78.726381 # Seafloor depth:-138.992089 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 66.593785 meters # Minimum depth: 125.524555 meters looking forward 100.000000 meters along route # Maximum depth: 132.337958 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 75.524555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802756; longitude = -121.806775; captureRadius = 10; duration = 66; initialDepth = 75.524555; finalDepth = 78.726381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.265708 # Actual altitude: 60.265708 # Commanded vehicle depth:75.524555 # Seafloor depth:-128.735840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 241.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 100.319437 meters # Minimum depth: 121.438942 meters looking forward 100.000000 meters along route # Maximum depth: 126.140003 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 71.438942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802845; longitude = -121.806037; captureRadius = 10; duration = 100; initialDepth = 71.438942; finalDepth = 75.524555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.611535 # Actual altitude: 54.611535 # Commanded vehicle depth:71.438942 # Seafloor depth:-126.050477 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 85.190814 meters # Minimum depth: 119.322906 meters looking forward 100.000000 meters along route # Maximum depth: 122.001876 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 69.322906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802980; longitude = -121.804925; captureRadius = 10; duration = 85; initialDepth = 69.322906; finalDepth = 71.438942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.611535 # Actual altitude: 54.611535 # Commanded vehicle depth:69.322906 # Seafloor depth:-121.777124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 100.693941 meters # Minimum depth: 118.138862 meters looking forward 100.000000 meters along route # Maximum depth: 121.625760 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 68.138862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803057; longitude = -121.803975; captureRadius = 10; duration = 100; initialDepth = 68.138862; finalDepth = 69.322906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.631558 # Actual altitude: 52.631558 # Commanded vehicle depth:68.138862 # Seafloor depth:-120.770420 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 12.798863 meters # Minimum depth: 117.952051 meters looking forward 100.000000 meters along route # Maximum depth: 121.625760 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 67.952051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803148; longitude = -121.802852; captureRadius = 10; duration = 12; initialDepth = 67.952051; finalDepth = 68.138862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.631558 # Actual altitude: 52.631558 # Commanded vehicle depth:67.952051 # Seafloor depth:-118.225433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.581625 meters # Minimum depth: 113.889936 meters looking forward 100.000000 meters along route # Maximum depth: 117.946244 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 63.889936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803152; longitude = -121.802709; captureRadius = 10; duration = 100; initialDepth = 63.889936; finalDepth = 67.952051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.056308 # Actual altitude: 54.056308 # Commanded vehicle depth:63.889936 # Seafloor depth:-117.946244 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 9.835797 meters # Minimum depth: 112.977337 meters looking forward 100.000000 meters along route # Maximum depth: 116.517958 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 62.977337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803185; longitude = -121.801582; captureRadius = 10; duration = 9; initialDepth = 62.977337; finalDepth = 63.889936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.056308 # Actual altitude: 54.056308 # Commanded vehicle depth:62.977337 # Seafloor depth:-113.887623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 100.379881 meters # Minimum depth: 83.797766 meters looking forward 100.000000 meters along route # Maximum depth: 112.794429 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 33.797766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803272; longitude = -121.801605; captureRadius = 10; duration = 100; initialDepth = 33.797766; finalDepth = 62.977337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.996663 # Actual altitude: 78.996663 # Commanded vehicle depth:33.797766 # Seafloor depth:-112.794429 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 315.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 89 at end of line 89 ####################################################### # Turn on power to sonars and restart logging on the PLC behavior reson { Log_Mode = 1; duration = 6; SBP_Power = 100.0; LoSS_Power = 100.0; HiSS_Power = 100.0; MB_Power = 220; } ####################################################### # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 167.085101; 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 = 167.085101; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 30.000000; 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; Log_Mode = 0; SBP_Power = 0.0; LoSS_Power = 0.0; HiSS_Power = 0.0; MB_Power = 0.0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 1.390433 meters # Minimum depth: 83.797766 meters looking forward 100.000000 meters along route # Maximum depth: 112.514498 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 33.797766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804156; longitude = -121.801843; captureRadius = 10; duration = 1; initialDepth = 33.797766; finalDepth = 33.797766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.996663 # Actual altitude: 78.996663 # Commanded vehicle depth:33.797766 # Seafloor depth:-89.337114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 315.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 101.214753 meters # Minimum depth: 89.693800 meters looking forward 100.000000 meters along route # Maximum depth: 101.217422 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 39.693800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804168; longitude = -121.801847; captureRadius = 10; duration = 101; initialDepth = 39.693800; finalDepth = 33.797766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.539348 # Actual altitude: 55.539348 # Commanded vehicle depth:39.6938 # Seafloor depth:-89.784623 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.22; MB_Bottom_Detect_Filter_Max_Range = 222.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 34.600329 meters # Minimum depth: 90.601863 meters looking forward 100.000000 meters along route # Maximum depth: 101.834813 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 40.601863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805053; longitude = -121.802123; captureRadius = 10; duration = 34; initialDepth = 40.601863; finalDepth = 39.693800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.655887 # Actual altitude: 60.655887 # Commanded vehicle depth:40.601863 # Seafloor depth:-101.257750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 242.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 100.656811 meters # Minimum depth: 101.450156 meters looking forward 100.000000 meters along route # Maximum depth: 111.331433 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 51.450156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804967; longitude = -121.802496; captureRadius = 10; duration = 100; initialDepth = 51.450156; finalDepth = 40.601863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.655887 # Actual altitude: 60.655887 # Commanded vehicle depth:51.450156 # Seafloor depth:-101.741626 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 242.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 3.661795 meters # Minimum depth: 101.450156 meters looking forward 100.000000 meters along route # Maximum depth: 111.602971 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 51.450156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804716; longitude = -121.803580; captureRadius = 10; duration = 3; initialDepth = 51.450156; finalDepth = 51.450156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.934192 # Actual altitude: 59.934192 # Commanded vehicle depth:51.450156 # Seafloor depth:-111.384348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 239.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.483558 meters # Minimum depth: 111.681378 meters looking forward 100.000000 meters along route # Maximum depth: 115.003237 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 61.681378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804701; longitude = -121.803616; captureRadius = 10; duration = 100; initialDepth = 61.681378; finalDepth = 51.450156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.934192 # Actual altitude: 59.934192 # Commanded vehicle depth:61.681378 # Seafloor depth:-111.760651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.97; MB_Bottom_Detect_Filter_Max_Range = 239.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 100.981381 meters # Minimum depth: 113.072782 meters looking forward 100.000000 meters along route # Maximum depth: 115.458630 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 63.072782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804280; longitude = -121.804614; captureRadius = 10; duration = 100; initialDepth = 63.072782; finalDepth = 61.681378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.886571 # Actual altitude: 51.886571 # Commanded vehicle depth:63.072782 # Seafloor depth:-114.959353 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 0.643212 meters # Minimum depth: 112.991064 meters looking forward 100.000000 meters along route # Maximum depth: 115.458630 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 62.991064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803857; longitude = -121.805616; captureRadius = 10; duration = 0; initialDepth = 62.991064; finalDepth = 63.072782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.886571 # Actual altitude: 51.886571 # Commanded vehicle depth:62.991064 # Seafloor depth:-112.999985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.652144 meters # Minimum depth: 112.306653 meters looking forward 100.000000 meters along route # Maximum depth: 120.804668 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 62.306653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803854; longitude = -121.805622; captureRadius = 10; duration = 100; initialDepth = 62.306653; finalDepth = 62.991064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.679816 # Actual altitude: 50.679816 # Commanded vehicle depth:62.306653 # Seafloor depth:-112.986469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 100.005592 meters # Minimum depth: 120.945499 meters looking forward 100.000000 meters along route # Maximum depth: 130.482400 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 70.945499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803406; longitude = -121.806603; captureRadius = 10; duration = 100; initialDepth = 70.945499; finalDepth = 62.306653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.679816 # Actual altitude: 50.679816 # Commanded vehicle depth:70.945499 # Seafloor depth:-120.945499 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 60.174212 meters # Minimum depth: 129.651780 meters looking forward 100.000000 meters along route # Maximum depth: 136.408894 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 79.651780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802961; longitude = -121.807578; captureRadius = 10; duration = 60; initialDepth = 79.651780; finalDepth = 70.945499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.122932 # Actual altitude: 50.122932 # Commanded vehicle depth:79.65178 # Seafloor depth:-129.774712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 100.321616 meters # Minimum depth: 136.263022 meters looking forward 100.000000 meters along route # Maximum depth: 143.749127 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 86.263022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802800; longitude = -121.808222; captureRadius = 10; duration = 100; initialDepth = 86.263022; finalDepth = 79.651780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.164611 # Actual altitude: 50.164611 # Commanded vehicle depth:86.263022 # Seafloor depth:-136.427633 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 54.418217 meters # Minimum depth: 140.511832 meters looking forward 100.000000 meters along route # Maximum depth: 145.004276 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 90.511832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802532; longitude = -121.809296; captureRadius = 10; duration = 54; initialDepth = 90.511832; finalDepth = 86.263022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.36152 # Actual altitude: 53.36152 # Commanded vehicle depth:90.511832 # Seafloor depth:-143.873352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 213.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.837974 meters # Minimum depth: 129.392380 meters looking forward 100.000000 meters along route # Maximum depth: 140.947811 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 79.392380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802427; longitude = -121.809892; captureRadius = 10; duration = 100; initialDepth = 79.392380; finalDepth = 90.511832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.555431 # Actual altitude: 61.555431 # Commanded vehicle depth:79.39238 # Seafloor depth:-140.947811 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 49.132336 meters # Minimum depth: 129.392380 meters looking forward 100.000000 meters along route # Maximum depth: 135.071799 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 79.392380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802233; longitude = -121.810996; captureRadius = 10; duration = 49; initialDepth = 79.392380; finalDepth = 79.392380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.555431 # Actual altitude: 61.555431 # Commanded vehicle depth:79.39238 # Seafloor depth:-130.396027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 246.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.691661 meters # Minimum depth: 135.113107 meters looking forward 100.000000 meters along route # Maximum depth: 143.971475 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 85.113107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801982; longitude = -121.811450; captureRadius = 10; duration = 100; initialDepth = 85.113107; finalDepth = 79.392380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.003647 # Actual altitude: 51.003647 # Commanded vehicle depth:85.113107 # Seafloor depth:-135.113107 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 7.536704 meters # Minimum depth: 136.939254 meters looking forward 100.000000 meters along route # Maximum depth: 144.283943 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 86.939254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801467; longitude = -121.812379; captureRadius = 10; duration = 7; initialDepth = 86.939254; finalDepth = 85.113107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.950589 # Actual altitude: 56.950589 # Commanded vehicle depth:86.939254 # Seafloor depth:-143.889843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.294743 meters # Minimum depth: 144.314605 meters looking forward 100.000000 meters along route # Maximum depth: 146.526983 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 94.314605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801423; longitude = -121.812443; captureRadius = 10; duration = 100; initialDepth = 94.314605; finalDepth = 86.939254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.950589 # Actual altitude: 56.950589 # Commanded vehicle depth:94.314605 # Seafloor depth:-144.314605 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 90.117155 meters # Minimum depth: 146.118538 meters looking forward 100.000000 meters along route # Maximum depth: 164.717572 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 96.118538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800832; longitude = -121.813294; captureRadius = 10; duration = 90; initialDepth = 96.118538; finalDepth = 94.314605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.424969 # Actual altitude: 50.424969 # Commanded vehicle depth:96.118538 # Seafloor depth:-146.543507 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 23.003912 meters # Minimum depth: 147.126064 meters looking forward 100.000000 meters along route # Maximum depth: 165.488820 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 97.126064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800104; longitude = -121.813742; captureRadius = 10; duration = 23; initialDepth = 97.126064; finalDepth = 96.118538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.536881 # Actual altitude: 67.536881 # Commanded vehicle depth:97.126064 # Seafloor depth:-164.662945 # 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 = 27.01; 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 80 # Segment length 100.880819 meters # Minimum depth: 165.028793 meters looking forward 100.000000 meters along route # Maximum depth: 167.192151 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 115.028793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799910; longitude = -121.813832; captureRadius = 10; duration = 100; initialDepth = 115.028793; finalDepth = 97.126064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.536881 # Actual altitude: 67.536881 # Commanded vehicle depth:115.028793 # Seafloor depth:-165.028793 # 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 = 27.01; 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 79 # Segment length 94.210332 meters # Minimum depth: 163.915545 meters looking forward 100.000000 meters along route # Maximum depth: 166.830102 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 113.915545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799058; longitude = -121.814228; captureRadius = 10; duration = 94; initialDepth = 113.915545; finalDepth = 115.028793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.86733 # Actual altitude: 52.86733 # Commanded vehicle depth:113.915545 # Seafloor depth:-166.782875 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 81.025788 meters # Minimum depth: 163.251756 meters looking forward 100.000000 meters along route # Maximum depth: 167.431254 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 113.251756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798610; longitude = -121.815125; captureRadius = 10; duration = 81; initialDepth = 113.251756; finalDepth = 113.915545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.86733 # Actual altitude: 52.86733 # Commanded vehicle depth:113.251756 # Seafloor depth:-163.843872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.677430 meters # Minimum depth: 167.511802 meters looking forward 100.000000 meters along route # Maximum depth: 176.609945 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 117.511802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798626; longitude = -121.816033; captureRadius = 10; duration = 100; initialDepth = 117.511802; finalDepth = 113.251756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.592116 # Actual altitude: 50.592116 # Commanded vehicle depth:117.511802 # Seafloor depth:-167.511802 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 0.355776 meters # Minimum depth: 167.621943 meters looking forward 100.000000 meters along route # Maximum depth: 176.621742 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 117.621943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798647; longitude = -121.817161; captureRadius = 10; duration = 0; initialDepth = 117.621943; finalDepth = 117.511802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.999799 # Actual altitude: 58.999799 # Commanded vehicle depth:117.621943 # Seafloor depth:-176.621742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.351058 meters # Minimum depth: 176.541089 meters looking forward 100.000000 meters along route # Maximum depth: 179.627827 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 126.541089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798648; longitude = -121.817165; captureRadius = 10; duration = 100; initialDepth = 126.541089; finalDepth = 117.621943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.999799 # Actual altitude: 58.999799 # Commanded vehicle depth:126.541089 # Seafloor depth:-176.671631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.301639 meters # Minimum depth: 179.454552 meters looking forward 100.000000 meters along route # Maximum depth: 182.793069 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 129.454552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798965; longitude = -121.818218; captureRadius = 10; duration = 100; initialDepth = 129.454552; finalDepth = 126.541089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.131965 # Actual altitude: 50.131965 # Commanded vehicle depth:129.454552 # Seafloor depth:-179.586517 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 32.385007 meters # Minimum depth: 180.404626 meters looking forward 100.000000 meters along route # Maximum depth: 185.000706 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 130.404626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799282; longitude = -121.819271; captureRadius = 10; duration = 32; initialDepth = 130.404626; finalDepth = 129.454552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.394629 # Actual altitude: 52.394629 # Commanded vehicle depth:130.404626 # Seafloor depth:-182.799255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.052382 meters # Minimum depth: 185.033428 meters looking forward 100.000000 meters along route # Maximum depth: 190.216489 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 135.033428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799405; longitude = -121.819600; captureRadius = 10; duration = 100; initialDepth = 135.033428; finalDepth = 130.404626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.394629 # Actual altitude: 52.394629 # Commanded vehicle depth:135.033428 # Seafloor depth:-185.033428 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 96.802584 meters # Minimum depth: 189.749624 meters looking forward 100.000000 meters along route # Maximum depth: 191.843145 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 139.749624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799787; longitude = -121.820616; captureRadius = 10; duration = 96; initialDepth = 139.749624; finalDepth = 135.033428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.341734 # Actual altitude: 50.341734 # Commanded vehicle depth:139.749624 # Seafloor depth:-190.091358 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 68.733519 meters # Minimum depth: 187.172857 meters looking forward 100.000000 meters along route # Maximum depth: 195.831322 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 137.172857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799824; longitude = -121.821700; captureRadius = 10; duration = 68; initialDepth = 137.172857; finalDepth = 139.749624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.731329 # Actual altitude: 54.731329 # Commanded vehicle depth:137.172857 # Seafloor depth:-191.904186 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 88.139933 meters # Minimum depth: 194.239043 meters looking forward 100.000000 meters along route # Maximum depth: 199.469784 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 144.239043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799320; longitude = -121.822148; captureRadius = 10; duration = 88; initialDepth = 144.239043; finalDepth = 137.172857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.731329 # Actual altitude: 54.731329 # Commanded vehicle depth:144.239043 # Seafloor depth:-195.870453 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 218.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 95.529815 meters # Minimum depth: 198.789893 meters looking forward 100.000000 meters along route # Maximum depth: 200.805934 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 148.789893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798554; longitude = -121.822410; captureRadius = 10; duration = 95; initialDepth = 148.789893; finalDepth = 144.239043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.63141 # Actual altitude: 51.63141 # Commanded vehicle depth:148.789893 # Seafloor depth:-198.941887 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 17.922712 meters # Minimum depth: 199.283415 meters looking forward 100.000000 meters along route # Maximum depth: 200.805934 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 149.283415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797695; longitude = -121.822484; captureRadius = 10; duration = 17; initialDepth = 149.283415; finalDepth = 148.789893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.220777 # Actual altitude: 51.220777 # Commanded vehicle depth:149.283415 # Seafloor depth:-200.504192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 100.552066 meters # Minimum depth: 200.169652 meters looking forward 100.000000 meters along route # Maximum depth: 201.347120 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 150.169652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797534; longitude = -121.822501; captureRadius = 10; duration = 100; initialDepth = 150.169652; finalDepth = 149.283415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.220777 # Actual altitude: 51.220777 # Commanded vehicle depth:150.169652 # Seafloor depth:-200.169652 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 17.939870 meters # Minimum depth: 200.187806 meters looking forward 100.000000 meters along route # Maximum depth: 202.169658 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 150.187806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796631; longitude = -121.822597; captureRadius = 10; duration = 17; initialDepth = 150.187806; finalDepth = 150.169652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.887458 # Actual altitude: 50.887458 # Commanded vehicle depth:150.187806 # Seafloor depth:-201.075264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.321645 meters # Minimum depth: 202.228387 meters looking forward 100.000000 meters along route # Maximum depth: 204.745606 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 152.228387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796469; longitude = -121.822605; captureRadius = 10; duration = 100; initialDepth = 152.228387; finalDepth = 150.187806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.887458 # Actual altitude: 50.887458 # Commanded vehicle depth:152.228387 # Seafloor depth:-202.228387 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 11.766991 meters # Minimum depth: 202.266176 meters looking forward 100.000000 meters along route # Maximum depth: 205.404342 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 152.266176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795566; longitude = -121.822653; captureRadius = 10; duration = 11; initialDepth = 152.266176; finalDepth = 152.228387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.501513 # Actual altitude: 52.501513 # Commanded vehicle depth:152.266176 # Seafloor depth:-204.767689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 101.065227 meters # Minimum depth: 205.323832 meters looking forward 100.000000 meters along route # Maximum depth: 208.566399 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 155.323832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795461; longitude = -121.822671; captureRadius = 10; duration = 101; initialDepth = 155.323832; finalDepth = 152.266176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.501513 # Actual altitude: 52.501513 # Commanded vehicle depth:155.323832 # Seafloor depth:-205.554292 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 210.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 53.326368 meters # Minimum depth: 206.870360 meters looking forward 100.000000 meters along route # Maximum depth: 210.057202 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 156.870360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794558; longitude = -121.822821; captureRadius = 10; duration = 53; initialDepth = 156.870360; finalDepth = 155.323832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.74822 # Actual altitude: 51.74822 # Commanded vehicle depth:156.87036 # Seafloor depth:-208.618580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 101.155427 meters # Minimum depth: 210.043442 meters looking forward 100.000000 meters along route # Maximum depth: 215.376820 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 160.043442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794094; longitude = -121.822976; captureRadius = 10; duration = 101; initialDepth = 160.043442; finalDepth = 156.870360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.74822 # Actual altitude: 51.74822 # Commanded vehicle depth:160.043442 # Seafloor depth:-210.048224 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 206.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 22.267889 meters # Minimum depth: 210.955909 meters looking forward 100.000000 meters along route # Maximum depth: 215.376820 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 160.955909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793213; longitude = -121.823269; captureRadius = 10; duration = 22; initialDepth = 160.955909; finalDepth = 160.043442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.183865 # Actual altitude: 54.183865 # Commanded vehicle depth:160.955909 # Seafloor depth:-215.139774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 100.233995 meters # Minimum depth: 210.151348 meters looking forward 100.000000 meters along route # Maximum depth: 216.754185 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 160.151348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793074; longitude = -121.823449; captureRadius = 10; duration = 100; initialDepth = 160.151348; finalDepth = 160.955909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.745955 # Actual altitude: 54.745955 # Commanded vehicle depth:160.151348 # Seafloor depth:-214.897303 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 97.423449 meters # Minimum depth: 216.526197 meters looking forward 100.000000 meters along route # Maximum depth: 220.655512 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 166.526197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792448; longitude = -121.824259; captureRadius = 10; duration = 97; initialDepth = 166.526197; finalDepth = 160.151348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.745955 # Actual altitude: 54.745955 # Commanded vehicle depth:166.526197 # Seafloor depth:-216.709343 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 218.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 20.457316 meters # Minimum depth: 217.598318 meters looking forward 100.000000 meters along route # Maximum depth: 220.655512 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 167.598318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791888; longitude = -121.825100; captureRadius = 10; duration = 20; initialDepth = 167.598318; finalDepth = 166.526197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.952608 # Actual altitude: 52.952608 # Commanded vehicle depth:167.598318 # Seafloor depth:-220.550926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 100.326676 meters # Minimum depth: 220.288767 meters looking forward 100.000000 meters along route # Maximum depth: 225.398990 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 170.288767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791774; longitude = -121.825280; captureRadius = 10; duration = 100; initialDepth = 170.288767; finalDepth = 167.598318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.952608 # Actual altitude: 52.952608 # Commanded vehicle depth:170.288767 # Seafloor depth:-220.288767 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 8.908423 meters # Minimum depth: 220.967007 meters looking forward 100.000000 meters along route # Maximum depth: 225.423801 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 170.967007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791215; longitude = -121.826164; captureRadius = 10; duration = 8; initialDepth = 170.967007; finalDepth = 170.288767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.456794 # Actual altitude: 54.456794 # Commanded vehicle depth:170.967007 # Seafloor depth:-225.423801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 100.187542 meters # Minimum depth: 225.198974 meters looking forward 100.000000 meters along route # Maximum depth: 228.830374 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 175.198974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791165; longitude = -121.826242; captureRadius = 10; duration = 100; initialDepth = 175.198974; finalDepth = 170.967007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.456794 # Actual altitude: 54.456794 # Commanded vehicle depth:175.198974 # Seafloor depth:-225.342590 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 18.907442 meters # Minimum depth: 225.710666 meters looking forward 100.000000 meters along route # Maximum depth: 228.897744 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 175.710666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790599; longitude = -121.827117; captureRadius = 10; duration = 18; initialDepth = 175.710666; finalDepth = 175.198974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.110329 # Actual altitude: 53.110329 # Commanded vehicle depth:175.710666 # Seafloor depth:-228.820995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 100.075799 meters # Minimum depth: 228.695123 meters looking forward 100.000000 meters along route # Maximum depth: 231.279630 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 178.695123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790519; longitude = -121.827304; captureRadius = 10; duration = 100; initialDepth = 178.695123; finalDepth = 175.710666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.110329 # Actual altitude: 53.110329 # Commanded vehicle depth:178.695123 # Seafloor depth:-228.695123 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 41.492350 meters # Minimum depth: 229.495181 meters looking forward 100.000000 meters along route # Maximum depth: 232.279832 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 179.495181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790095; longitude = -121.828294; captureRadius = 10; duration = 41; initialDepth = 179.495181; finalDepth = 178.695123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.776773 # Actual altitude: 51.776773 # Commanded vehicle depth:179.495181 # Seafloor depth:-231.271954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.771941 meters # Minimum depth: 232.313974 meters looking forward 100.000000 meters along route # Maximum depth: 233.599251 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 182.313974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789991; longitude = -121.828741; captureRadius = 10; duration = 100; initialDepth = 182.313974; finalDepth = 179.495181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.776773 # Actual altitude: 51.776773 # Commanded vehicle depth:182.313974 # Seafloor depth:-232.313974 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 207.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 10.178918 meters # Minimum depth: 232.764657 meters looking forward 100.000000 meters along route # Maximum depth: 233.599251 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 182.764657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789740; longitude = -121.829826; captureRadius = 10; duration = 10; initialDepth = 182.764657; finalDepth = 182.313974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.564132 # Actual altitude: 50.564132 # Commanded vehicle depth:182.764657 # Seafloor depth:-233.328789 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.019910 meters # Minimum depth: 227.042216 meters looking forward 100.000000 meters along route # Maximum depth: 232.763367 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 177.042216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789745; longitude = -121.829940; captureRadius = 10; duration = 100; initialDepth = 177.042216; finalDepth = 182.764657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.721151 # Actual altitude: 55.721151 # Commanded vehicle depth:177.042216 # Seafloor depth:-232.763367 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 25.221576 meters # Minimum depth: 227.042216 meters looking forward 100.000000 meters along route # Maximum depth: 232.608915 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 177.042216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789796; longitude = -121.831059; captureRadius = 10; duration = 25; initialDepth = 177.042216; finalDepth = 177.042216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.721151 # Actual altitude: 55.721151 # Commanded vehicle depth:177.042216 # Seafloor depth:-231.831852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.007463 meters # Minimum depth: 232.653863 meters looking forward 100.000000 meters along route # Maximum depth: 236.166825 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 182.653863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789920; longitude = -121.831296; captureRadius = 10; duration = 100; initialDepth = 182.653863; finalDepth = 177.042216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.789636 # Actual altitude: 54.789636 # Commanded vehicle depth:182.653863 # Seafloor depth:-232.653863 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 20.365944 meters # Minimum depth: 233.346561 meters looking forward 100.000000 meters along route # Maximum depth: 237.183867 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 183.346561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790412; longitude = -121.832235; captureRadius = 10; duration = 20; initialDepth = 183.346561; finalDepth = 182.653863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.832642 # Actual altitude: 52.832642 # Commanded vehicle depth:183.346561 # Seafloor depth:-236.179203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 100.598855 meters # Minimum depth: 237.223627 meters looking forward 100.000000 meters along route # Maximum depth: 242.475082 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 187.223627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790519; longitude = -121.832421; captureRadius = 10; duration = 100; initialDepth = 187.223627; finalDepth = 183.346561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.832642 # Actual altitude: 52.832642 # Commanded vehicle depth:187.223627 # Seafloor depth:-237.223627 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 24.402410 meters # Minimum depth: 237.381261 meters looking forward 100.000000 meters along route # Maximum depth: 244.138937 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 187.381261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791047; longitude = -121.833337; captureRadius = 10; duration = 24; initialDepth = 187.381261; finalDepth = 187.223627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.156432 # Actual altitude: 55.156432 # Commanded vehicle depth:187.381261 # Seafloor depth:-242.537693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 100.610918 meters # Minimum depth: 244.148896 meters looking forward 100.000000 meters along route # Maximum depth: 247.357081 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 194.148896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791214; longitude = -121.833515; captureRadius = 10; duration = 100; initialDepth = 194.148896; finalDepth = 187.381261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.156432 # Actual altitude: 55.156432 # Commanded vehicle depth:194.148896 # Seafloor depth:-244.148896 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 95.760008 meters # Minimum depth: 247.258807 meters looking forward 100.000000 meters along route # Maximum depth: 253.320030 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 197.258807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791901; longitude = -121.834251; captureRadius = 10; duration = 95; initialDepth = 197.258807; finalDepth = 194.148896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.068761 # Actual altitude: 50.068761 # Commanded vehicle depth:197.258807 # Seafloor depth:-247.327568 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 98.355193 meters # Minimum depth: 253.311966 meters looking forward 100.000000 meters along route # Maximum depth: 259.274724 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 203.311966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792316; longitude = -121.835192; captureRadius = 10; duration = 98; initialDepth = 203.311966; finalDepth = 197.258807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.068761 # Actual altitude: 50.068761 # Commanded vehicle depth:203.311966 # Seafloor depth:-253.317261 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 50.174876 meters # Minimum depth: 256.481671 meters looking forward 100.000000 meters along route # Maximum depth: 261.449844 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 206.481671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792394; longitude = -121.836290; captureRadius = 10; duration = 50; initialDepth = 206.481671; finalDepth = 203.311966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.802356 # Actual altitude: 52.802356 # Commanded vehicle depth:206.481671 # Seafloor depth:-259.284027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 100.329161 meters # Minimum depth: 260.681228 meters looking forward 100.000000 meters along route # Maximum depth: 267.639088 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 210.681228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792312; longitude = -121.836843; captureRadius = 10; duration = 100; initialDepth = 210.681228; finalDepth = 206.481671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.802356 # Actual altitude: 52.802356 # Commanded vehicle depth:210.681228 # Seafloor depth:-260.737086 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 211.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 74.055651 meters # Minimum depth: 265.665358 meters looking forward 100.000000 meters along route # Maximum depth: 269.375415 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 215.665358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792148; longitude = -121.837949; captureRadius = 10; duration = 74; initialDepth = 215.665358; finalDepth = 210.681228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.055976 # Actual altitude: 52.055976 # Commanded vehicle depth:215.665358 # Seafloor depth:-267.721334 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.292506 meters # Minimum depth: 265.257755 meters looking forward 100.000000 meters along route # Maximum depth: 268.518553 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 215.257755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792291; longitude = -121.838759; captureRadius = 10; duration = 100; initialDepth = 215.257755; finalDepth = 215.665358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.046689 # Actual altitude: 53.046689 # Commanded vehicle depth:215.257755 # Seafloor depth:-268.304444 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 11.576619 meters # Minimum depth: 265.257755 meters looking forward 100.000000 meters along route # Maximum depth: 268.420941 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 215.257755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.839857; captureRadius = 10; duration = 11; initialDepth = 215.257755; finalDepth = 215.257755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.046689 # Actual altitude: 53.046689 # Commanded vehicle depth:215.257755 # Seafloor depth:-267.056152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 100.668082 meters # Minimum depth: 267.557808 meters looking forward 100.000000 meters along route # Maximum depth: 271.919961 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 217.557808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792516; longitude = -121.839981; captureRadius = 10; duration = 100; initialDepth = 217.557808; finalDepth = 215.257755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.798397 # Actual altitude: 51.798397 # Commanded vehicle depth:217.557808 # Seafloor depth:-267.594951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 101.012086 meters # Minimum depth: 271.859644 meters looking forward 100.000000 meters along route # Maximum depth: 275.909404 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 221.859644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792790; longitude = -121.841057; captureRadius = 10; duration = 101; initialDepth = 221.859644; finalDepth = 217.557808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.143236 # Actual altitude: 50.143236 # Commanded vehicle depth:221.859644 # Seafloor depth:-272.002880 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 18.340872 meters # Minimum depth: 272.802412 meters looking forward 100.000000 meters along route # Maximum depth: 276.013764 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 222.802412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793064; longitude = -121.842136; captureRadius = 10; duration = 18; initialDepth = 222.802412; finalDepth = 221.859644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.829836 # Actual altitude: 52.829836 # Commanded vehicle depth:222.802412 # Seafloor depth:-275.632248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.003974 meters # Minimum depth: 275.671784 meters looking forward 100.000000 meters along route # Maximum depth: 281.339228 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 225.671784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793119; longitude = -121.842330; captureRadius = 10; duration = 100; initialDepth = 225.671784; finalDepth = 222.802412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.829836 # Actual altitude: 52.829836 # Commanded vehicle depth:225.671784 # Seafloor depth:-275.824071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 100.674736 meters # Minimum depth: 281.416812 meters looking forward 100.000000 meters along route # Maximum depth: 287.383965 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 231.416812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793417; longitude = -121.843387; captureRadius = 10; duration = 100; initialDepth = 231.416812; finalDepth = 225.671784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.152287 # Actual altitude: 50.152287 # Commanded vehicle depth:231.416812 # Seafloor depth:-281.416812 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 82.970606 meters # Minimum depth: 286.250301 meters looking forward 100.000000 meters along route # Maximum depth: 290.143449 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 236.250301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793718; longitude = -121.844452; captureRadius = 10; duration = 82; initialDepth = 236.250301; finalDepth = 231.416812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.129406 # Actual altitude: 51.129406 # Commanded vehicle depth:236.250301 # Seafloor depth:-287.379707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.222199 meters # Minimum depth: 290.203337 meters looking forward 100.000000 meters along route # Maximum depth: 292.374585 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 240.203337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794056; longitude = -121.845281; captureRadius = 10; duration = 100; initialDepth = 240.203337; finalDepth = 236.250301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.129406 # Actual altitude: 51.129406 # Commanded vehicle depth:240.203337 # Seafloor depth:-290.204368 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 204.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 80.770051 meters # Minimum depth: 292.121956 meters looking forward 100.000000 meters along route # Maximum depth: 295.383566 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 242.121956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794465; longitude = -121.846283; captureRadius = 10; duration = 80; initialDepth = 242.121956; finalDepth = 240.203337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.001031 # Actual altitude: 50.001031 # Commanded vehicle depth:242.121956 # Seafloor depth:-292.121956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 100.272779 meters # Minimum depth: 295.631008 meters looking forward 100.000000 meters along route # Maximum depth: 299.515602 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 245.631008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794765; longitude = -121.847108; captureRadius = 10; duration = 100; initialDepth = 245.631008; finalDepth = 242.121956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.051466 # Actual altitude: 50.051466 # Commanded vehicle depth:245.631008 # Seafloor depth:-295.682474 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 50.189392 meters # Minimum depth: 297.186301 meters looking forward 100.000000 meters along route # Maximum depth: 302.245499 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 247.186301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795137; longitude = -121.848132; captureRadius = 10; duration = 50; initialDepth = 247.186301; finalDepth = 245.631008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.22487 # Actual altitude: 52.22487 # Commanded vehicle depth:247.186301 # Seafloor depth:-299.411171 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.559122 meters # Minimum depth: 302.255369 meters looking forward 100.000000 meters along route # Maximum depth: 306.566258 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 252.255369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795305; longitude = -121.848654; captureRadius = 10; duration = 100; initialDepth = 252.255369; finalDepth = 247.186301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.22487 # Actual altitude: 52.22487 # Commanded vehicle depth:252.255369 # Seafloor depth:-302.255369 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 208.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 48.335703 meters # Minimum depth: 304.311780 meters looking forward 100.000000 meters along route # Maximum depth: 307.405480 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 254.311780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795641; longitude = -121.849701; captureRadius = 10; duration = 48; initialDepth = 254.311780; finalDepth = 252.255369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.197696 # Actual altitude: 52.197696 # Commanded vehicle depth:254.31178 # Seafloor depth:-306.509476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 100.490696 meters # Minimum depth: 306.835782 meters looking forward 100.000000 meters along route # Maximum depth: 308.805983 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 256.835782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795877; longitude = -121.850156; captureRadius = 10; duration = 100; initialDepth = 256.835782; finalDepth = 254.311780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.197696 # Actual altitude: 52.197696 # Commanded vehicle depth:256.835782 # Seafloor depth:-307.151918 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 76.223154 meters # Minimum depth: 305.880123 meters looking forward 100.000000 meters along route # Maximum depth: 308.805983 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 255.880123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796369; longitude = -121.851102; captureRadius = 10; duration = 76; initialDepth = 255.880123; finalDepth = 256.835782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.851162 # Actual altitude: 52.851162 # Commanded vehicle depth:255.880123 # Seafloor depth:-308.731285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 101.126066 meters # Minimum depth: 304.313787 meters looking forward 100.000000 meters along route # Maximum depth: 307.607465 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 254.313787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796875; longitude = -121.851680; captureRadius = 10; duration = 101; initialDepth = 254.313787; finalDepth = 255.880123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.851162 # Actual altitude: 52.851162 # Commanded vehicle depth:254.313787 # Seafloor depth:-305.887294 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 61.066749 meters # Minimum depth: 304.254501 meters looking forward 100.000000 meters along route # Maximum depth: 307.148096 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 254.254501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797546; longitude = -121.852447; captureRadius = 10; duration = 61; initialDepth = 254.254501; finalDepth = 254.313787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.573507 # Actual altitude: 51.573507 # Commanded vehicle depth:254.254501 # Seafloor depth:-304.254501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 100.292703 meters # Minimum depth: 307.154650 meters looking forward 100.000000 meters along route # Maximum depth: 314.217967 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 257.154650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797949; longitude = -121.852914; captureRadius = 10; duration = 100; initialDepth = 257.154650; finalDepth = 254.254501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:257.15465 # Seafloor depth:-307.154650 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 63.715756 meters # Minimum depth: 310.914747 meters looking forward 100.000000 meters along route # Maximum depth: 319.747125 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 260.914747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798610; longitude = -121.853680; captureRadius = 10; duration = 63; initialDepth = 260.914747; finalDepth = 257.154650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.386172 # Actual altitude: 53.386172 # Commanded vehicle depth:260.914747 # Seafloor depth:-314.300919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.090408 meters # Minimum depth: 319.783777 meters looking forward 100.000000 meters along route # Maximum depth: 326.991874 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 269.783777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799060; longitude = -121.854123; captureRadius = 10; duration = 100; initialDepth = 269.783777; finalDepth = 260.914747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.386172 # Actual altitude: 53.386172 # Commanded vehicle depth:269.783777 # Seafloor depth:-319.783777 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 83.771219 meters # Minimum depth: 324.692905 meters looking forward 100.000000 meters along route # Maximum depth: 329.921349 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 274.692905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799768; longitude = -121.854819; captureRadius = 10; duration = 83; initialDepth = 274.692905; finalDepth = 269.783777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.409588 # Actual altitude: 52.409588 # Commanded vehicle depth:274.692905 # Seafloor depth:-327.102493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 100.965644 meters # Minimum depth: 329.482831 meters looking forward 100.000000 meters along route # Maximum depth: 333.869201 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 279.482831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800403; longitude = -121.855327; captureRadius = 10; duration = 100; initialDepth = 279.482831; finalDepth = 274.692905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.409588 # Actual altitude: 52.409588 # Commanded vehicle depth:279.482831 # Seafloor depth:-329.536740 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 57.214130 meters # Minimum depth: 331.639918 meters looking forward 100.000000 meters along route # Maximum depth: 336.865059 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 281.639918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801168; longitude = -121.855940; captureRadius = 10; duration = 57; initialDepth = 281.639918; finalDepth = 279.482831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.23808 # Actual altitude: 52.23808 # Commanded vehicle depth:281.639918 # Seafloor depth:-333.877998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 101.269520 meters # Minimum depth: 336.326250 meters looking forward 100.000000 meters along route # Maximum depth: 337.715629 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 286.326250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801613; longitude = -121.856264; captureRadius = 10; duration = 101; initialDepth = 286.326250; finalDepth = 281.639918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.23808 # Actual altitude: 52.23808 # Commanded vehicle depth:286.32625 # Seafloor depth:-336.886936 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 43.913245 meters # Minimum depth: 336.326250 meters looking forward 100.000000 meters along route # Maximum depth: 340.205400 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 286.326250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802401; longitude = -121.856837; captureRadius = 10; duration = 43; initialDepth = 286.326250; finalDepth = 286.326250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.560686 # Actual altitude: 50.560686 # Commanded vehicle depth:286.32625 # Seafloor depth:-336.829979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.277117 meters # Minimum depth: 330.890349 meters looking forward 100.000000 meters along route # Maximum depth: 340.170619 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 280.890349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802162; longitude = -121.857230; captureRadius = 10; duration = 100; initialDepth = 280.890349; finalDepth = 286.326250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.254683 # Actual altitude: 59.254683 # Commanded vehicle depth:280.890349 # Seafloor depth:-340.145032 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.70; MB_Bottom_Detect_Filter_Max_Range = 237.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 71.990931 meters # Minimum depth: 329.425714 meters looking forward 100.000000 meters along route # Maximum depth: 334.000412 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 279.425714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801617; longitude = -121.858126; captureRadius = 10; duration = 71; initialDepth = 279.425714; finalDepth = 280.890349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.254683 # Actual altitude: 59.254683 # Commanded vehicle depth:279.425714 # Seafloor depth:-330.880951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.70; MB_Bottom_Detect_Filter_Max_Range = 237.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.371622 meters # Minimum depth: 329.529773 meters looking forward 100.000000 meters along route # Maximum depth: 330.550926 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 279.529773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801152; longitude = -121.857563; captureRadius = 10; duration = 100; initialDepth = 279.529773; finalDepth = 279.425714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.455237 # Actual altitude: 51.455237 # Commanded vehicle depth:279.529773 # Seafloor depth:-329.554151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.372046 meters # Minimum depth: 327.754597 meters looking forward 100.000000 meters along route # Maximum depth: 330.110432 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 277.754597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800503; longitude = -121.856779; captureRadius = 10; duration = 100; initialDepth = 277.754597; finalDepth = 279.529773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.207983 # Actual altitude: 52.207983 # Commanded vehicle depth:277.754597 # Seafloor depth:-329.962580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.122371 meters # Minimum depth: 325.545792 meters looking forward 100.000000 meters along route # Maximum depth: 328.882875 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 275.545792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799855; longitude = -121.855994; captureRadius = 10; duration = 100; initialDepth = 275.545792; finalDepth = 277.754597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.241787 # Actual altitude: 52.241787 # Commanded vehicle depth:275.545792 # Seafloor depth:-327.787579 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 29.300056 meters # Minimum depth: 325.460942 meters looking forward 100.000000 meters along route # Maximum depth: 328.882875 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 275.460942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799208; longitude = -121.855212; captureRadius = 10; duration = 29; initialDepth = 275.460942; finalDepth = 275.545792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.241787 # Actual altitude: 52.241787 # Commanded vehicle depth:275.460942 # Seafloor depth:-325.539062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 208.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 100.166519 meters # Minimum depth: 322.988137 meters looking forward 100.000000 meters along route # Maximum depth: 326.543564 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 272.988137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798980; longitude = -121.855047; captureRadius = 10; duration = 100; initialDepth = 272.988137; finalDepth = 275.460942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.555427 # Actual altitude: 53.555427 # Commanded vehicle depth:272.988137 # Seafloor depth:-326.543564 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 8.436058 meters # Minimum depth: 322.988137 meters looking forward 100.000000 meters along route # Maximum depth: 325.176596 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 272.988137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798199; longitude = -121.854483; captureRadius = 10; duration = 8; initialDepth = 272.988137; finalDepth = 272.988137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.555427 # Actual altitude: 53.555427 # Commanded vehicle depth:272.988137 # Seafloor depth:-323.463928 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.041476 meters # Minimum depth: 320.444151 meters looking forward 100.000000 meters along route # Maximum depth: 323.573225 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 270.444151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798139; longitude = -121.854426; captureRadius = 10; duration = 100; initialDepth = 270.444151; finalDepth = 272.988137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.982034 # Actual altitude: 52.982034 # Commanded vehicle depth:270.444151 # Seafloor depth:-323.426185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.095000 meters # Minimum depth: 318.551546 meters looking forward 100.000000 meters along route # Maximum depth: 320.782386 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 268.551546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797422; longitude = -121.853745; captureRadius = 10; duration = 100; initialDepth = 268.551546; finalDepth = 270.444151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.982034 # Actual altitude: 52.982034 # Commanded vehicle depth:268.551546 # Seafloor depth:-320.592214 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 58.905301 meters # Minimum depth: 316.661930 meters looking forward 100.000000 meters along route # Maximum depth: 319.264612 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 266.661930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796705; longitude = -121.853064; captureRadius = 10; duration = 58; initialDepth = 266.661930; finalDepth = 268.551546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.040668 # Actual altitude: 52.040668 # Commanded vehicle depth:266.66193 # Seafloor depth:-318.604805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 100.881806 meters # Minimum depth: 313.204692 meters looking forward 100.000000 meters along route # Maximum depth: 317.018383 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 263.204692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796368; longitude = -121.852554; captureRadius = 10; duration = 100; initialDepth = 263.204692; finalDepth = 266.661930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.45154 # Actual altitude: 53.45154 # Commanded vehicle depth:263.204692 # Seafloor depth:-316.656232 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 74.777663 meters # Minimum depth: 310.682804 meters looking forward 100.000000 meters along route # Maximum depth: 313.915219 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 260.682804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795790; longitude = -121.851681; captureRadius = 10; duration = 74; initialDepth = 260.682804; finalDepth = 263.204692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.45154 # Actual altitude: 53.45154 # Commanded vehicle depth:260.682804 # Seafloor depth:-313.171608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.524340 meters # Minimum depth: 307.273729 meters looking forward 100.000000 meters along route # Maximum depth: 310.650041 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 257.273729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795360; longitude = -121.851036; captureRadius = 10; duration = 100; initialDepth = 257.273729; finalDepth = 260.682804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.376312 # Actual altitude: 53.376312 # Commanded vehicle depth:257.273729 # Seafloor depth:-310.650041 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 83.573956 meters # Minimum depth: 304.163624 meters looking forward 100.000000 meters along route # Maximum depth: 307.385638 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 254.163624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794782; longitude = -121.850168; captureRadius = 10; duration = 83; initialDepth = 254.163624; finalDepth = 257.273729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.376312 # Actual altitude: 53.376312 # Commanded vehicle depth:254.163624 # Seafloor depth:-307.349838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 100.115279 meters # Minimum depth: 301.668151 meters looking forward 100.000000 meters along route # Maximum depth: 304.512056 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 251.668151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794451; longitude = -121.849327; captureRadius = 10; duration = 100; initialDepth = 251.668151; finalDepth = 254.163624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1862139999999 # Actual altitude: 53.1862139999999 # Commanded vehicle depth:251.668151 # Seafloor depth:-304.421413 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 212.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 22.417133 meters # Minimum depth: 300.861917 meters looking forward 100.000000 meters along route # Maximum depth: 303.514757 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 250.861917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794054; longitude = -121.848319; captureRadius = 10; duration = 22; initialDepth = 250.861917; finalDepth = 251.668151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7532619999999 # Actual altitude: 52.7532619999999 # Commanded vehicle depth:250.861917 # Seafloor depth:-301.764816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.511869 meters # Minimum depth: 297.556831 meters looking forward 100.000000 meters along route # Maximum depth: 300.717972 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 247.556831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793964; longitude = -121.848094; captureRadius = 10; duration = 100; initialDepth = 247.556831; finalDepth = 250.861917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.161141 # Actual altitude: 53.161141 # Commanded vehicle depth:247.556831 # Seafloor depth:-300.717972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.505292 meters # Minimum depth: 293.715078 meters looking forward 100.000000 meters along route # Maximum depth: 297.764703 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 243.715078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793560; longitude = -121.847085; captureRadius = 10; duration = 100; initialDepth = 243.715078; finalDepth = 247.556831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.049625 # Actual altitude: 54.049625 # Commanded vehicle depth:243.715078 # Seafloor depth:-297.764703 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 71.020562 meters # Minimum depth: 291.149509 meters looking forward 100.000000 meters along route # Maximum depth: 294.545500 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 241.149509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793157; longitude = -121.846077; captureRadius = 10; duration = 71; initialDepth = 241.149509; finalDepth = 243.715078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.049625 # Actual altitude: 54.049625 # Commanded vehicle depth:241.149509 # Seafloor depth:-293.734360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.968524 meters # Minimum depth: 285.790332 meters looking forward 100.000000 meters along route # Maximum depth: 291.152731 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 235.790332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792880; longitude = -121.845360; captureRadius = 10; duration = 100; initialDepth = 235.790332; finalDepth = 241.149509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.318106 # Actual altitude: 55.318106 # Commanded vehicle depth:235.790332 # Seafloor depth:-291.108438 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 43.329729 meters # Minimum depth: 285.090454 meters looking forward 100.000000 meters along route # Maximum depth: 289.240941 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 235.090454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.844340; captureRadius = 10; duration = 43; initialDepth = 235.090454; finalDepth = 235.790332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.318106 # Actual altitude: 55.318106 # Commanded vehicle depth:235.090454 # Seafloor depth:-286.780701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.566580 meters # Minimum depth: 282.428452 meters looking forward 100.000000 meters along route # Maximum depth: 285.474598 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 232.428452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792389; longitude = -121.843869; captureRadius = 10; duration = 100; initialDepth = 232.428452; finalDepth = 235.090454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.616308 # Actual altitude: 52.616308 # Commanded vehicle depth:232.428452 # Seafloor depth:-285.044760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.319527 meters # Minimum depth: 279.698696 meters looking forward 100.000000 meters along route # Maximum depth: 283.069186 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 229.698696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792166; longitude = -121.842777; captureRadius = 10; duration = 100; initialDepth = 229.698696; finalDepth = 232.428452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.997523 # Actual altitude: 52.997523 # Commanded vehicle depth:229.698696 # Seafloor depth:-282.696219 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 11.673931 meters # Minimum depth: 279.400661 meters looking forward 100.000000 meters along route # Maximum depth: 283.069186 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 229.400661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791944; longitude = -121.841687; captureRadius = 10; duration = 11; initialDepth = 229.400661; finalDepth = 229.698696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.997523 # Actual altitude: 52.997523 # Commanded vehicle depth:229.400661 # Seafloor depth:-279.619232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 211.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.552120 meters # Minimum depth: 274.602238 meters looking forward 100.000000 meters along route # Maximum depth: 279.482423 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 224.602238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791916; longitude = -121.841561; captureRadius = 10; duration = 100; initialDepth = 224.602238; finalDepth = 229.400661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.880185 # Actual altitude: 54.880185 # Commanded vehicle depth:224.602238 # Seafloor depth:-279.482423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.254768 meters # Minimum depth: 270.087827 meters looking forward 100.000000 meters along route # Maximum depth: 274.886972 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 220.087827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791677; longitude = -121.840474; captureRadius = 10; duration = 100; initialDepth = 220.087827; finalDepth = 224.602238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.880185 # Actual altitude: 54.880185 # Commanded vehicle depth:220.087827 # Seafloor depth:-274.772814 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 97.317029 meters # Minimum depth: 263.849389 meters looking forward 100.000000 meters along route # Maximum depth: 270.251585 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 213.849389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791439; longitude = -121.839390; captureRadius = 10; duration = 97; initialDepth = 213.849389; finalDepth = 220.087827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.158149 # Actual altitude: 56.158149 # Commanded vehicle depth:213.849389 # Seafloor depth:-270.007538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.46; MB_Bottom_Detect_Filter_Max_Range = 224.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.524598 meters # Minimum depth: 253.992137 meters looking forward 100.000000 meters along route # Maximum depth: 263.893819 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 203.992137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791016; longitude = -121.838434; captureRadius = 10; duration = 100; initialDepth = 203.992137; finalDepth = 213.849389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.901682 # Actual altitude: 59.901682 # Commanded vehicle depth:203.992137 # Seafloor depth:-263.893819 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 9.486517 meters # Minimum depth: 253.872018 meters looking forward 100.000000 meters along route # Maximum depth: 263.117600 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 203.872018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790580; longitude = -121.837447; captureRadius = 10; duration = 9; initialDepth = 203.872018; finalDepth = 203.992137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.901682 # Actual altitude: 59.901682 # Commanded vehicle depth:203.872018 # Seafloor depth:-253.979679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.039428 meters # Minimum depth: 252.691370 meters looking forward 100.000000 meters along route # Maximum depth: 253.919337 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 202.691370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790550; longitude = -121.837347; captureRadius = 10; duration = 100; initialDepth = 202.691370; finalDepth = 203.872018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.227967 # Actual altitude: 51.227967 # Commanded vehicle depth:202.69137 # Seafloor depth:-253.919337 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 100.060041 meters # Minimum depth: 244.860933 meters looking forward 100.000000 meters along route # Maximum depth: 253.019587 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 194.860933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790239; longitude = -121.836295; captureRadius = 10; duration = 100; initialDepth = 194.860933; finalDepth = 202.691370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.156398 # Actual altitude: 58.156398 # Commanded vehicle depth:194.860933 # Seafloor depth:-253.017331 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 10.806510 meters # Minimum depth: 243.901804 meters looking forward 100.000000 meters along route # Maximum depth: 252.842012 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 193.901804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789927; longitude = -121.835243; captureRadius = 10; duration = 10; initialDepth = 193.901804; finalDepth = 194.860933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.156398 # Actual altitude: 58.156398 # Commanded vehicle depth:193.901804 # Seafloor depth:-244.855633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.386341 meters # Minimum depth: 240.969250 meters looking forward 100.000000 meters along route # Maximum depth: 249.023354 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 190.969250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789896; longitude = -121.835128; captureRadius = 10; duration = 100; initialDepth = 190.969250; finalDepth = 193.901804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.837756 # Actual altitude: 52.837756 # Commanded vehicle depth:190.96925 # Seafloor depth:-243.807006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.217366 meters # Minimum depth: 244.441425 meters looking forward 100.000000 meters along route # Maximum depth: 249.006231 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 194.441425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789603; longitude = -121.834064; captureRadius = 10; duration = 100; initialDepth = 194.441425; finalDepth = 190.969250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.564806 # Actual altitude: 54.564806 # Commanded vehicle depth:194.441425 # Seafloor depth:-249.006231 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 68.689080 meters # Minimum depth: 242.797726 meters looking forward 100.000000 meters along route # Maximum depth: 245.618608 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 192.797726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789311; longitude = -121.833001; captureRadius = 10; duration = 68; initialDepth = 192.797726; finalDepth = 194.441425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.564806 # Actual altitude: 54.564806 # Commanded vehicle depth:192.797726 # Seafloor depth:-244.429901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.854351 meters # Minimum depth: 240.776322 meters looking forward 100.000000 meters along route # Maximum depth: 243.176159 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 190.776322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789144; longitude = -121.832260; captureRadius = 10; duration = 100; initialDepth = 190.776322; finalDepth = 192.797726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.399837 # Actual altitude: 52.399837 # Commanded vehicle depth:190.776322 # Seafloor depth:-243.176159 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 3.910629 meters # Minimum depth: 240.776322 meters looking forward 100.000000 meters along route # Maximum depth: 242.405167 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 190.776322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788900; longitude = -121.831171; captureRadius = 10; duration = 3; initialDepth = 190.776322; finalDepth = 190.776322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.399837 # Actual altitude: 52.399837 # Commanded vehicle depth:190.776322 # Seafloor depth:-241.106602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.326533 meters # Minimum depth: 236.226368 meters looking forward 100.000000 meters along route # Maximum depth: 241.001581 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 186.226368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788906; longitude = -121.831128; captureRadius = 10; duration = 100; initialDepth = 186.226368; finalDepth = 190.776322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.775213 # Actual altitude: 54.775213 # Commanded vehicle depth:186.226368 # Seafloor depth:-241.001581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.10; 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 = 219.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.228076 meters # Minimum depth: 233.091420 meters looking forward 100.000000 meters along route # Maximum depth: 236.906301 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 183.091420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789052; longitude = -121.830018; captureRadius = 10; duration = 100; initialDepth = 183.091420; finalDepth = 186.226368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.775213 # Actual altitude: 54.775213 # Commanded vehicle depth:183.09142 # Seafloor depth:-236.496737 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.10; 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 = 219.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 1.208867 meters # Minimum depth: 232.979927 meters looking forward 100.000000 meters along route # Maximum depth: 236.906301 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 182.979927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789199; longitude = -121.828910; captureRadius = 10; duration = 1; initialDepth = 182.979927; finalDepth = 183.091420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.405317 # Actual altitude: 53.405317 # Commanded vehicle depth:182.979927 # Seafloor depth:-233.056248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.279825 meters # Minimum depth: 229.102860 meters looking forward 100.000000 meters along route # Maximum depth: 232.811631 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 179.102860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789204; longitude = -121.828898; captureRadius = 10; duration = 100; initialDepth = 179.102860; finalDepth = 182.979927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.708771 # Actual altitude: 53.708771 # Commanded vehicle depth:179.10286 # Seafloor depth:-232.811631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 214.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.492268 meters # Minimum depth: 223.454164 meters looking forward 100.000000 meters along route # Maximum depth: 229.078048 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 173.454164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789583; longitude = -121.827878; captureRadius = 10; duration = 100; initialDepth = 173.454164; finalDepth = 179.102860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.623884 # Actual altitude: 55.623884 # Commanded vehicle depth:173.454164 # Seafloor depth:-229.078048 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 77.853545 meters # Minimum depth: 223.210661 meters looking forward 100.000000 meters along route # Maximum depth: 226.246614 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 173.210661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789964; longitude = -121.826856; captureRadius = 10; duration = 77; initialDepth = 173.210661; finalDepth = 173.454164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.623884 # Actual altitude: 55.623884 # Commanded vehicle depth:173.210661 # Seafloor depth:-223.284763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.107044 meters # Minimum depth: 224.834819 meters looking forward 100.000000 meters along route # Maximum depth: 227.441139 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 174.834819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790413; longitude = -121.826186; captureRadius = 10; duration = 100; initialDepth = 174.834819; finalDepth = 173.210661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.478626 # Actual altitude: 51.478626 # Commanded vehicle depth:174.834819 # Seafloor depth:-226.313445 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 82.410806 meters # Minimum depth: 221.439644 meters looking forward 100.000000 meters along route # Maximum depth: 225.181362 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 171.439644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790991; longitude = -121.825324; captureRadius = 10; duration = 82; initialDepth = 171.439644; finalDepth = 174.834819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.546997 # Actual altitude: 53.546997 # Commanded vehicle depth:171.439644 # Seafloor depth:-224.986641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.262130 meters # Minimum depth: 219.101398 meters looking forward 100.000000 meters along route # Maximum depth: 221.398806 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 169.101398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791539; longitude = -121.824700; captureRadius = 10; duration = 100; initialDepth = 169.101398; finalDepth = 171.439644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.546997 # Actual altitude: 53.546997 # Commanded vehicle depth:169.101398 # Seafloor depth:-221.398806 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.42; MB_Bottom_Detect_Filter_Max_Range = 214.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 85.815067 meters # Minimum depth: 217.565145 meters looking forward 100.000000 meters along route # Maximum depth: 219.921649 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 167.565145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792205; longitude = -121.823941; captureRadius = 10; duration = 85; initialDepth = 167.565145; finalDepth = 169.101398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.297408 # Actual altitude: 52.297408 # Commanded vehicle depth:167.565145 # Seafloor depth:-219.672192 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 46.019792 meters # Minimum depth: 216.010060 meters looking forward 100.000000 meters along route # Maximum depth: 219.384215 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 166.010060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792653; longitude = -121.823157; captureRadius = 10; duration = 46; initialDepth = 166.010060; finalDepth = 167.565145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.107047 # Actual altitude: 52.107047 # Commanded vehicle depth:166.01006 # Seafloor depth:-217.531563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.194667 meters # Minimum depth: 211.792176 meters looking forward 100.000000 meters along route # Maximum depth: 216.660755 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 161.792176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793029; longitude = -121.822940; captureRadius = 10; duration = 100; initialDepth = 161.792176; finalDepth = 166.010060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.868579 # Actual altitude: 54.868579 # Commanded vehicle depth:161.792176 # Seafloor depth:-216.660755 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 77.808466 meters # Minimum depth: 210.169625 meters looking forward 100.000000 meters along route # Maximum depth: 213.087577 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 160.169625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793848; longitude = -121.822466; captureRadius = 10; duration = 77; initialDepth = 160.169625; finalDepth = 161.792176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.868579 # Actual altitude: 54.868579 # Commanded vehicle depth:160.169625 # Seafloor depth:-211.822273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.468363 meters # Minimum depth: 205.950308 meters looking forward 100.000000 meters along route # Maximum depth: 210.800475 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 155.950308 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794508; longitude = -121.822172; captureRadius = 10; duration = 100; initialDepth = 155.950308; finalDepth = 160.169625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.850167 # Actual altitude: 54.850167 # Commanded vehicle depth:155.950308 # Seafloor depth:-210.800475 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 23.589611 meters # Minimum depth: 205.545838 meters looking forward 100.000000 meters along route # Maximum depth: 209.921357 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 155.545838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795361; longitude = -121.821793; captureRadius = 10; duration = 23; initialDepth = 155.545838; finalDepth = 155.950308; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.850167 # Actual altitude: 54.850167 # Commanded vehicle depth:155.545838 # Seafloor depth:-206.060200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.069468 meters # Minimum depth: 203.062311 meters looking forward 100.000000 meters along route # Maximum depth: 206.497339 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 153.062311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795573; longitude = -121.821814; captureRadius = 10; duration = 101; initialDepth = 153.062311; finalDepth = 155.545838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.693993 # Actual altitude: 52.693993 # Commanded vehicle depth:153.062311 # Seafloor depth:-205.756304 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.78; 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 = 210.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 97.284288 meters # Minimum depth: 200.038391 meters looking forward 100.000000 meters along route # Maximum depth: 203.353902 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 150.038391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796481; longitude = -121.821905; captureRadius = 10; duration = 97; initialDepth = 150.038391; finalDepth = 153.062311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.040794 # Actual altitude: 53.040794 # Commanded vehicle depth:150.038391 # Seafloor depth:-203.079185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.237313 meters # Minimum depth: 198.440709 meters looking forward 100.000000 meters along route # Maximum depth: 199.997382 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 148.440709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797355; longitude = -121.821997; captureRadius = 10; duration = 100; initialDepth = 148.440709; finalDepth = 150.038391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.040794 # Actual altitude: 53.040794 # Commanded vehicle depth:148.440709 # Seafloor depth:-199.997382 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.22; MB_Bottom_Detect_Filter_Max_Range = 212.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 44.484718 meters # Minimum depth: 197.248978 meters looking forward 100.000000 meters along route # Maximum depth: 199.856602 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 147.248978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798255; longitude = -121.822092; captureRadius = 10; duration = 44; initialDepth = 147.248978; finalDepth = 148.440709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.556673 # Actual altitude: 51.556673 # Commanded vehicle depth:147.248978 # Seafloor depth:-198.377796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.990151 meters # Minimum depth: 188.600718 meters looking forward 100.000000 meters along route # Maximum depth: 197.396532 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 138.600718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798655; longitude = -121.822052; captureRadius = 10; duration = 100; initialDepth = 138.600718; finalDepth = 147.248978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.795814 # Actual altitude: 58.795814 # Commanded vehicle depth:138.600718 # Seafloor depth:-197.396532 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 74.945098 meters # Minimum depth: 186.224901 meters looking forward 100.000000 meters along route # Maximum depth: 191.561636 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 136.224901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799562; longitude = -121.821961; captureRadius = 10; duration = 74; initialDepth = 136.224901; finalDepth = 138.600718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.795814 # Actual altitude: 58.795814 # Commanded vehicle depth:136.224901 # Seafloor depth:-188.721733 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.52; MB_Bottom_Detect_Filter_Max_Range = 235.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 100.003903 meters # Minimum depth: 188.189370 meters looking forward 100.000000 meters along route # Maximum depth: 191.563683 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 138.189370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799899; longitude = -121.821233; captureRadius = 10; duration = 100; initialDepth = 138.189370; finalDepth = 136.224901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.374313 # Actual altitude: 53.374313 # Commanded vehicle depth:138.18937 # Seafloor depth:-191.563683 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 79.498540 meters # Minimum depth: 183.568690 meters looking forward 100.000000 meters along route # Maximum depth: 188.640278 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 133.568690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799618; longitude = -121.820168; captureRadius = 10; duration = 79; initialDepth = 133.568690; finalDepth = 138.189370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.841901 # Actual altitude: 54.841901 # Commanded vehicle depth:133.56869 # Seafloor depth:-188.410591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.912729 meters # Minimum depth: 180.178470 meters looking forward 100.000000 meters along route # Maximum depth: 183.562101 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 130.178470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799314; longitude = -121.819361; captureRadius = 10; duration = 100; initialDepth = 130.178470; finalDepth = 133.568690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.841901 # Actual altitude: 54.841901 # Commanded vehicle depth:130.17847 # Seafloor depth:-183.541303 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 219.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 27.382066 meters # Minimum depth: 180.062678 meters looking forward 100.000000 meters along route # Maximum depth: 182.272655 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 130.062678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798928; longitude = -121.818337; captureRadius = 10; duration = 27; initialDepth = 130.062678; finalDepth = 130.178470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.362833 # Actual altitude: 53.362833 # Commanded vehicle depth:130.062678 # Seafloor depth:-180.152164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 213.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.407889 meters # Minimum depth: 177.988766 meters looking forward 100.000000 meters along route # Maximum depth: 180.866290 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 127.988766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798823; longitude = -121.818059; captureRadius = 10; duration = 100; initialDepth = 127.988766; finalDepth = 130.062678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.829375 # Actual altitude: 52.829375 # Commanded vehicle depth:127.988766 # Seafloor depth:-180.818141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 211.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.657985 meters # Minimum depth: 174.552007 meters looking forward 100.000000 meters along route # Maximum depth: 178.022554 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 124.552007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798437; longitude = -121.817041; captureRadius = 10; duration = 100; initialDepth = 124.552007; finalDepth = 127.988766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.455137 # Actual altitude: 53.455137 # Commanded vehicle depth:124.552007 # Seafloor depth:-178.007144 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 79.565967 meters # Minimum depth: 168.336414 meters looking forward 100.000000 meters along route # Maximum depth: 175.372069 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 118.336414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798050; longitude = -121.816021; captureRadius = 10; duration = 79; initialDepth = 118.336414; finalDepth = 124.552007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.128617 # Actual altitude: 56.128617 # Commanded vehicle depth:118.336414 # Seafloor depth:-174.465031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.235063 meters # Minimum depth: 167.280210 meters looking forward 100.000000 meters along route # Maximum depth: 171.520149 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 117.280210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798141; longitude = -121.815136; captureRadius = 10; duration = 100; initialDepth = 117.280210; finalDepth = 118.336414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.128617 # Actual altitude: 56.128617 # Commanded vehicle depth:117.28021 # Seafloor depth:-168.930929 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 45.334740 meters # Minimum depth: 165.171652 meters looking forward 100.000000 meters along route # Maximum depth: 171.520149 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 115.171652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798255; longitude = -121.814022; captureRadius = 10; duration = 45; initialDepth = 115.171652; finalDepth = 117.280210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.075312 # Actual altitude: 52.075312 # Commanded vehicle depth:115.171652 # Seafloor depth:-167.246964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 208.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.299385 meters # Minimum depth: 159.441638 meters looking forward 100.000000 meters along route # Maximum depth: 165.445485 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 109.441638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798639; longitude = -121.813848; captureRadius = 10; duration = 100; initialDepth = 109.441638; finalDepth = 115.171652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.003803 # Actual altitude: 56.003803 # Commanded vehicle depth:109.441638 # Seafloor depth:-165.445441 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 224.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 43.865393 meters # Minimum depth: 157.231143 meters looking forward 100.000000 meters along route # Maximum depth: 162.588386 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 107.231143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799488; longitude = -121.813462; captureRadius = 10; duration = 43; initialDepth = 107.231143; finalDepth = 109.441638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.003803 # Actual altitude: 56.003803 # Commanded vehicle depth:107.231143 # Seafloor depth:-159.993366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 224.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.213713 meters # Minimum depth: 154.580751 meters looking forward 100.000000 meters along route # Maximum depth: 160.588896 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 104.580751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799658; longitude = -121.813018; captureRadius = 10; duration = 100; initialDepth = 104.580751; finalDepth = 107.231143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.762223 # Actual altitude: 52.762223 # Commanded vehicle depth:104.580751 # Seafloor depth:-157.229589 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 13.744700 meters # Minimum depth: 154.580751 meters looking forward 100.000000 meters along route # Maximum depth: 160.588896 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 104.580751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800048; longitude = -121.812005; captureRadius = 10; duration = 13; initialDepth = 104.580751; finalDepth = 104.580751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.600817 # Actual altitude: 54.600817 # Commanded vehicle depth:104.580751 # Seafloor depth:-159.181568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.815164 meters # Minimum depth: 155.715605 meters looking forward 100.000000 meters along route # Maximum depth: 157.975542 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 105.715605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800134; longitude = -121.811894; captureRadius = 10; duration = 100; initialDepth = 105.715605; finalDepth = 104.580751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.600817 # Actual altitude: 54.600817 # Commanded vehicle depth:105.715605 # Seafloor depth:-157.975542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.500875 meters # Minimum depth: 145.794775 meters looking forward 100.000000 meters along route # Maximum depth: 155.693728 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 95.794775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800764; longitude = -121.811080; captureRadius = 10; duration = 100; initialDepth = 95.794775; finalDepth = 105.715605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.898953 # Actual altitude: 59.898953 # Commanded vehicle depth:95.794775 # Seafloor depth:-155.693728 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 33.519124 meters # Minimum depth: 143.729561 meters looking forward 100.000000 meters along route # Maximum depth: 154.092892 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 93.729561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801392; longitude = -121.810268; captureRadius = 10; duration = 33; initialDepth = 93.729561; finalDepth = 95.794775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.898953 # Actual altitude: 59.898953 # Commanded vehicle depth:93.729561 # Seafloor depth:-145.699791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 239.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.063302 meters # Minimum depth: 138.799200 meters looking forward 100.000000 meters along route # Maximum depth: 146.349321 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 88.799200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801512; longitude = -121.809923; captureRadius = 10; duration = 100; initialDepth = 88.799200; finalDepth = 93.729561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.833341 # Actual altitude: 54.833341 # Commanded vehicle depth:88.7992 # Seafloor depth:-143.632541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.806754 meters # Minimum depth: 140.916380 meters looking forward 100.000000 meters along route # Maximum depth: 145.787950 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 90.916380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801871; longitude = -121.808895; captureRadius = 10; duration = 100; initialDepth = 90.916380; finalDepth = 88.799200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.833341 # Actual altitude: 54.833341 # Commanded vehicle depth:90.91638 # Seafloor depth:-145.666194 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 76.608106 meters # Minimum depth: 138.140893 meters looking forward 100.000000 meters along route # Maximum depth: 142.476957 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 88.140893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802233; longitude = -121.807858; captureRadius = 10; duration = 76; initialDepth = 88.140893; finalDepth = 90.916380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.749814 # Actual altitude: 54.749814 # Commanded vehicle depth:88.140893 # Seafloor depth:-140.941677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.132107 meters # Minimum depth: 133.147259 meters looking forward 100.000000 meters along route # Maximum depth: 138.078152 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 83.147259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802271; longitude = -121.807001; captureRadius = 10; duration = 100; initialDepth = 83.147259; finalDepth = 88.140893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.921905 # Actual altitude: 54.921905 # Commanded vehicle depth:83.147259 # Seafloor depth:-138.069164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.132068 meters # Minimum depth: 128.502524 meters looking forward 100.000000 meters along route # Maximum depth: 132.940236 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 78.502524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802321; longitude = -121.805880; captureRadius = 10; duration = 100; initialDepth = 78.502524; finalDepth = 83.147259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.921905 # Actual altitude: 54.921905 # Commanded vehicle depth:78.502524 # Seafloor depth:-132.940236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.378477 meters # Minimum depth: 124.892042 meters looking forward 100.000000 meters along route # Maximum depth: 128.636555 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 74.892042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802370; longitude = -121.804759; captureRadius = 10; duration = 100; initialDepth = 74.892042; finalDepth = 78.502524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.437712 # Actual altitude: 54.437712 # Commanded vehicle depth:74.892042 # Seafloor depth:-128.636555 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.78; MB_Bottom_Detect_Filter_Max_Range = 217.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 72.664703 meters # Minimum depth: 123.038406 meters looking forward 100.000000 meters along route # Maximum depth: 127.200160 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 73.038406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802420; longitude = -121.803636; captureRadius = 10; duration = 72; initialDepth = 73.038406; finalDepth = 74.892042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.744513 # Actual altitude: 53.744513 # Commanded vehicle depth:73.038406 # Seafloor depth:-124.861872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 214.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.256546 meters # Minimum depth: 118.227844 meters looking forward 100.000000 meters along route # Maximum depth: 123.014415 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 68.227844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802524; longitude = -121.802832; captureRadius = 10; duration = 100; initialDepth = 68.227844; finalDepth = 73.038406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7493 # Actual altitude: 54.7493 # Commanded vehicle depth:68.227844 # Seafloor depth:-122.977144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.533213 meters # Minimum depth: 111.897526 meters looking forward 100.000000 meters along route # Maximum depth: 118.457024 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 61.897526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802668; longitude = -121.801722; captureRadius = 10; duration = 100; initialDepth = 61.897526; finalDepth = 68.227844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.345595 # Actual altitude: 56.345595 # Commanded vehicle depth:61.897526 # Seafloor depth:-118.243121 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 77.401928 meters # Minimum depth: 109.850494 meters looking forward 100.000000 meters along route # Maximum depth: 112.695475 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 59.850494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802812; longitude = -121.800610; captureRadius = 10; duration = 77; initialDepth = 59.850494; finalDepth = 61.897526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.345595 # Actual altitude: 56.345595 # Commanded vehicle depth:59.850494 # Seafloor depth:-111.849491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.54; MB_Bottom_Detect_Filter_Max_Range = 225.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.781103 meters # Minimum depth: 80.427548 meters looking forward 100.000000 meters along route # Maximum depth: 109.818453 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 30.427548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803485; longitude = -121.800837; captureRadius = 10; duration = 100; initialDepth = 30.427548; finalDepth = 59.850494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.390905 # Actual altitude: 79.390905 # Commanded vehicle depth:30.427548 # Seafloor depth:-109.818453 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 317.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 86.478409 meters # Minimum depth: 86.107820 meters looking forward 100.000000 meters along route # Maximum depth: 90.557652 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 36.107820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804362; longitude = -121.801133; captureRadius = 10; duration = 86; initialDepth = 36.107820; finalDepth = 30.427548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.390905 # Actual altitude: 79.390905 # Commanded vehicle depth:36.10782 # Seafloor depth:-87.219402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.76; MB_Bottom_Detect_Filter_Max_Range = 317.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.336320 meters # Minimum depth: 90.363428 meters looking forward 100.000000 meters along route # Maximum depth: 96.544160 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 40.363428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804162; longitude = -121.802070; captureRadius = 10; duration = 100; initialDepth = 40.363428; finalDepth = 36.107820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.111582 # Actual altitude: 51.111582 # Commanded vehicle depth:40.363428 # Seafloor depth:-90.363428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.589000 meters # Minimum depth: 96.541904 meters looking forward 100.000000 meters along route # Maximum depth: 113.967732 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 46.541904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803930; longitude = -121.803157; captureRadius = 10; duration = 100; initialDepth = 46.541904; finalDepth = 40.363428; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:46.541904 # Seafloor depth:-96.541904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.554620 meters # Minimum depth: 114.013613 meters looking forward 100.000000 meters along route # Maximum depth: 120.230876 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 64.013613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803697; longitude = -121.804247; captureRadius = 10; duration = 100; initialDepth = 64.013613; finalDepth = 46.541904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:64.013613 # Seafloor depth:-114.013613 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 71.571093 meters # Minimum depth: 119.147534 meters looking forward 100.000000 meters along route # Maximum depth: 121.333158 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 69.147534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803465; longitude = -121.805336; captureRadius = 10; duration = 71; initialDepth = 69.147534; finalDepth = 64.013613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.62096 # Actual altitude: 50.62096 # Commanded vehicle depth:69.147534 # Seafloor depth:-119.768494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.802265 meters # Minimum depth: 121.468359 meters looking forward 100.000000 meters along route # Maximum depth: 127.551457 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 71.468359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803279; longitude = -121.806104; captureRadius = 10; duration = 100; initialDepth = 71.468359; finalDepth = 69.147534; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.62096 # Actual altitude: 50.62096 # Commanded vehicle depth:71.468359 # Seafloor depth:-121.468359 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 70.231301 meters # Minimum depth: 111.097794 meters looking forward 100.000000 meters along route # Maximum depth: 130.493110 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 61.097794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803017; longitude = -121.807186; captureRadius = 10; duration = 70; initialDepth = 61.097794; finalDepth = 71.468359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.362083 # Actual altitude: 66.362083 # Commanded vehicle depth:61.097794 # Seafloor depth:-127.459877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 265.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.316176 meters # Minimum depth: 64.266905 meters looking forward 100.000000 meters along route # Maximum depth: 111.054151 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 14.266905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803553; longitude = -121.807606; captureRadius = 10; duration = 101; initialDepth = 14.266905; finalDepth = 61.097794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.787246 # Actual altitude: 96.787246 # Commanded vehicle depth:14.266905 # Seafloor depth:-111.054151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 387.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.322256 meters # Minimum depth: 49.866247 meters looking forward 100.000000 meters along route # Maximum depth: 64.233770 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804325; longitude = -121.808211; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 14.266905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.787246 # Actual altitude: 96.787246 # Commanded vehicle depth:3 # Seafloor depth:-64.233770 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.71; MB_Bottom_Detect_Filter_Max_Range = 387.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 80.818881 meters # Minimum depth: 0.000000 meters looking forward 100.000000 meters along route # Maximum depth: 44.719203 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805090; longitude = -121.808811; captureRadius = 10; duration = 80; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.23377 # Actual altitude: 61.23377 # Commanded vehicle depth:3 # Seafloor depth:0.000000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.49; MB_Bottom_Detect_Filter_Max_Range = 244.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.456689 meters # Minimum depth: 42.269966 meters looking forward 100.000000 meters along route # Maximum depth: 44.492190 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805161; longitude = -121.809713; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.799439 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-43.799439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.456548 meters # Minimum depth: 42.462782 meters looking forward 100.000000 meters along route # Maximum depth: 46.044083 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805250; longitude = -121.810833; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.799439 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-43.312409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.058084 meters # Minimum depth: 42.754759 meters looking forward 100.000000 meters along route # Maximum depth: 44.637554 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805338; longitude = -121.811954; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.312409 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.970189 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 27.010365 meters # Minimum depth: 42.864490 meters looking forward 100.000000 meters along route # Maximum depth: 44.637554 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805426; longitude = -121.813070; captureRadius = 10; duration = 27; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.607715 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-43.607715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.279129 meters # Minimum depth: 41.890845 meters looking forward 100.000000 meters along route # Maximum depth: 43.281601 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805374; longitude = -121.813366; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.607715 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-43.223669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.279342 meters # Minimum depth: 41.073698 meters looking forward 100.000000 meters along route # Maximum depth: 42.216962 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805182; longitude = -121.814464; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.223669 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-42.216962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.279557 meters # Minimum depth: 41.216443 meters looking forward 100.000000 meters along route # Maximum depth: 41.897780 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804989; longitude = -121.815562; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 39.216962 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-41.615629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.218840 meters # Minimum depth: 41.357482 meters looking forward 100.000000 meters along route # Maximum depth: 42.764184 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804796; longitude = -121.816660; captureRadius = 10; duration = 100; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 38.615629 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-41.535664 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; 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: 38.561634 # Actual altitude: 50 # Commanded vehicle depth:3 # Seafloor depth:-41.561634 # 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 = 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; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 41.357482 meters looking forward 100.000000 meters along route # Maximum depth: 42.764184 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 3.000000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804604; longitude = -121.817758; captureRadius = 10; duration = 500; initialDepth = 3.000000; finalDepth = 3.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 76.989523; 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 = 76.989523; 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 = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; 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; } # ####################################################### #######################################################