# 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: UpperCanyonAxisV5.cfg # Distance: 23344.670514 (m) # Estimated Time: 18746 (s) 5.207 (hr) # Abort Time: 24370 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 300 (s) # Way Points: 139 # Route Points: 301 # 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: 35 (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 -121.805486 36.802364 -127.324819 0.000000 1 # 1 -121.807858 36.802233 -141.868340 212.149421 1 # 2 -121.810268 36.801392 -151.552738 446.538601 1 # 3 -121.812005 36.800048 -148.185482 661.599340 1 # 4 -121.813462 36.799488 -162.492958 805.678446 1 # 5 -121.814022 36.798255 -166.008579 951.312571 1 # 6 -121.816021 36.798050 -172.074768 1131.113600 1 # 7 -121.818337 36.798928 -179.140648 1359.561540 1 # 8 -121.820168 36.799618 -185.549007 1539.972809 1 # 9 -121.821233 36.799899 -188.527802 1639.976712 1 # 10 -121.821961 36.799562 -191.140110 1714.921811 1 # 11 -121.822092 36.798255 -195.934101 1860.396680 1 # 12 -121.821905 36.796481 -201.600407 2057.918281 1 # 13 -121.821793 36.795361 -205.067642 2182.577360 1 # 14 -121.822466 36.793848 -212.243603 2360.854189 1 # 15 -121.823157 36.792653 -216.808216 2507.068648 1 # 16 -121.823941 36.792205 -220.557003 2592.883715 1 # 17 -121.825324 36.790991 -220.759666 2775.556651 1 # 18 -121.826856 36.789964 -222.714336 2953.517239 1 # 19 -121.828910 36.789199 -232.428429 3155.498200 1 # 20 -121.831171 36.788900 -237.003338 3359.963438 1 # 21 -121.833001 36.789311 -244.859615 3529.506869 1 # 22 -121.835243 36.789927 -245.186562 3740.917086 1 # 23 -121.837447 36.790580 -255.622101 3950.503072 1 # 24 -121.839390 36.791439 -270.243248 4148.344699 1 # 25 -121.841687 36.791944 -280.138184 4360.825518 1 # 26 -121.844340 36.792485 -286.907829 4605.041354 1 # 27 -121.846077 36.793157 -292.761055 4777.030439 1 # 28 -121.848319 36.794054 -301.893143 5000.464733 1 # 29 -121.850168 36.794782 -308.202293 5184.153969 1 # 30 -121.851681 36.795790 -313.371902 5359.455972 1 # 31 -121.853064 36.796705 -318.623039 5519.243079 1 # 32 -121.854483 36.798199 -324.366722 5727.815613 1 # 33 -121.855212 36.799208 -329.255203 5857.282188 1 # 34 -121.858126 36.801617 -333.085197 6230.139157 1 # 35 -121.856837 36.802401 -336.894890 6374.329520 1 # 36 -121.855940 36.801168 -334.750061 6532.813169 1 # 37 -121.854819 36.799768 -327.387459 6717.550033 1 # 38 -121.853680 36.798610 -315.762383 6881.356197 1 # 39 -121.852447 36.797546 -306.380424 7042.715648 1 # 40 -121.851102 36.796369 -308.237366 7220.064869 1 # 41 -121.849701 36.795641 -306.956657 7368.891267 1 # 42 -121.848132 36.795137 -299.799637 7519.639782 1 # 43 -121.846283 36.794465 -292.993393 7700.682612 1 # 44 -121.844452 36.793718 -286.663361 7883.875417 1 # 45 -121.842136 36.793064 -278.961823 8102.894999 1 # 46 -121.839857 36.792485 -269.326523 8316.151786 1 # 47 -121.837503 36.792037 -263.569199 8531.998143 1 # 48 -121.835635 36.791888 -256.124168 8699.496994 1 # 49 -121.834178 36.791608 -249.803139 8833.164897 1 # 50 -121.833337 36.791047 -240.673325 8930.659558 1 # 51 -121.832235 36.790412 -234.779144 9051.624357 1 # 52 -121.831059 36.789796 -233.616295 9176.853396 1 # 53 -121.829826 36.789740 -227.714008 9287.052225 1 # 54 -121.828294 36.790095 -231.239079 9429.316515 1 # 55 -121.827117 36.790599 -228.576332 9548.299756 1 # 56 -121.826164 36.791215 -226.674892 9657.395722 1 # 57 -121.825100 36.791888 -222.772301 9778.179713 1 # 58 -121.824259 36.792448 -215.646164 9875.603162 1 # 59 -121.823269 36.793213 -214.033516 9998.105046 1 # 60 -121.822821 36.794558 -209.505386 10152.586841 1 # 61 -121.822653 36.795566 -206.172913 10265.419059 1 # 62 -121.822597 36.796631 -203.043468 10383.680574 1 # 63 -121.822484 36.797695 -200.781250 10502.155352 1 # 64 -121.822410 36.798554 -197.363621 10597.685167 1 # 65 -121.822148 36.799320 -191.355850 10685.825100 1 # 66 -121.821700 36.799824 -190.514656 10754.558619 1 # 67 -121.820616 36.799787 -187.710377 10851.361203 1 # 68 -121.819271 36.799282 -181.835110 10983.798592 1 # 69 -121.817161 36.798647 -176.891460 11184.807065 1 # 70 -121.815125 36.798610 -165.696632 11366.510283 1 # 71 -121.814228 36.799058 -161.846951 11460.720615 1 # 72 -121.813742 36.800104 -156.406456 11584.605346 1 # 73 -121.813294 36.800832 -150.961857 11674.722501 1 # 74 -121.812379 36.801467 -147.512604 11782.553948 1 # 75 -121.810996 36.802233 -134.413952 11932.377945 1 # 76 -121.809296 36.802532 -138.318172 12087.634136 1 # 77 -121.807578 36.802961 -131.822273 12248.129964 1 # 78 -121.805616 36.803857 -114.867783 12449.430912 1 # 79 -121.803580 36.804716 -111.835373 12654.557647 1 # 80 -121.802123 36.805053 -102.843193 12789.814786 1 # 81 -121.801843 36.804156 -90.216351 12892.419972 4 # 82 -121.801582 36.803185 -114.279081 13002.635650 1 # 83 -121.802852 36.803148 -113.306929 13116.016138 1 # 84 -121.804925 36.802980 -124.634157 13301.900893 1 # 85 -121.806775 36.802756 -128.151905 13468.814115 1 # 86 -121.808811 36.802289 -143.464264 13657.706700 1 # 87 -121.810249 36.801747 -151.116161 13799.395934 1 # 88 -121.811930 36.801019 -147.472752 13969.739001 1 # 89 -121.812846 36.800384 -154.888657 14077.638377 1 # 90 -121.813350 36.799880 -160.052773 14149.392645 1 # 91 -121.814134 36.798760 -162.305229 14291.986715 1 # 92 -121.815293 36.798386 -169.786049 14403.409766 1 # 93 -121.816544 36.798479 -175.506508 14515.503176 1 # 94 -121.818767 36.799114 -180.478897 14725.984319 1 # 95 -121.819682 36.799432 -184.011395 14814.919308 1 # 96 -121.820897 36.799843 -188.172146 14932.522731 1 # 97 -121.821905 36.799731 -191.654507 15023.311809 1 # 98 -121.822186 36.798946 -193.583073 15113.940155 1 # 99 -121.822204 36.797807 -198.130756 15240.316228 1 # 100 -121.822260 36.796295 -203.886456 15408.138780 1 # 101 -121.822316 36.795286 -206.878414 15520.193261 1 # 102 -121.822522 36.794297 -211.026138 15631.446266 1 # 103 -121.822914 36.793288 -215.491444 15748.726458 1 # 104 -121.823885 36.792485 -216.656193 15872.998151 1 # 105 -121.824614 36.791925 -221.629860 15962.949791 1 # 106 -121.825660 36.791159 -225.177402 16089.178190 1 # 107 -121.826669 36.790599 -227.206654 16198.568149 1 # 108 -121.827976 36.789908 -230.254784 16338.134572 1 # 109 -121.829415 36.789423 -233.183121 16477.358519 1 # 110 -121.830890 36.789348 -232.459755 16609.239732 1 # 111 -121.832105 36.789703 -237.511299 16724.589577 1 # 112 -121.833337 36.790207 -246.854298 16847.926781 1 # 113 -121.834645 36.790749 -250.189327 16979.220993 1 # 114 -121.836756 36.791271 -257.852814 17176.288926 1 # 115 -121.838792 36.791813 -267.081497 17367.654492 1 # 116 -121.840473 36.792149 -272.917709 17522.212250 1 # 117 -121.842379 36.792653 -280.403046 17701.239117 1 # 118 -121.844265 36.793176 -286.914986 17879.246325 1 # 119 -121.845946 36.793792 -292.953842 18044.073899 1 # 120 -121.848879 36.794894 -304.321526 18332.925951 1 # 121 -121.851289 36.796014 -313.700996 18581.278746 1 # 122 -121.852634 36.797023 -315.598183 18745.390368 1 # 123 -121.853867 36.798199 -321.317474 18916.050782 1 # 124 -121.855025 36.799562 -326.752769 19099.192968 1 # 125 -121.857902 36.802513 -344.671333 19515.213884 1 # 126 -121.856146 36.803036 -319.649757 19682.278400 1 # 127 -121.854745 36.803260 -288.768211 19809.717121 1 # 128 -121.852242 36.803409 -280.311302 20033.636275 1 # 129 -121.849869 36.804100 -240.195503 20258.797996 1 # 130 -121.845330 36.805893 -193.520264 20709.963107 1 # 131 -121.844321 36.806733 -187.494331 20839.530850 1 # 132 -121.842472 36.807629 -175.045769 21032.121094 1 # 133 -121.840249 36.808507 -160.461323 21253.068456 1 # 134 -121.838605 36.809590 -151.467281 21442.663077 1 # 135 -121.837597 36.811887 -143.875065 21712.901758 1 # 136 -121.837111 36.814894 -128.185764 22049.316917 1 # 137 -121.835878 36.819095 -105.839590 22528.196157 1 # 138 -121.834738 36.826397 -57.332101 23344.670514 1 # # A total of 301 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 20000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 300.000000; abortDepth = 330.000000; minAltitude = 35.000000; abortAltitude = 25.000000; } ####################################################### # 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 138 # Segment length 10.494819 meters # Minimum depth: 57.332101 meters looking forward 100.000000 meters along route # Maximum depth: 57.485531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 7.332101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826397; longitude = -121.834738; captureRadius = 10; duration = 10; initialDepth = 7.332101; finalDepth = 7.332101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:7.332101 # Seafloor depth:-57.332101 # 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 100.223857 meters # Minimum depth: 57.701690 meters looking forward 100.000000 meters along route # Maximum depth: 62.766507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 7.701690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826303; longitude = -121.834753; captureRadius = 10; duration = 100; initialDepth = 7.701690; finalDepth = 7.332101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:7.70169 # Seafloor depth:-57.701690 # 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 100.223856 meters # Minimum depth: 63.006107 meters looking forward 100.000000 meters along route # Maximum depth: 69.402348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 13.006107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825407; longitude = -121.834893; captureRadius = 10; duration = 100; initialDepth = 13.006107; finalDepth = 7.701690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:13.006107 # Seafloor depth:-63.006107 # 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 100.223857 meters # Minimum depth: 69.948554 meters looking forward 100.000000 meters along route # Maximum depth: 75.504784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 19.948554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824510; longitude = -121.835033; captureRadius = 10; duration = 100; initialDepth = 19.948554; finalDepth = 13.006107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:19.948554 # Seafloor depth:-69.948554 # 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 100.223857 meters # Minimum depth: 75.787457 meters looking forward 100.000000 meters along route # Maximum depth: 82.217294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 25.787457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823614; longitude = -121.835172; captureRadius = 10; duration = 100; initialDepth = 25.787457; finalDepth = 19.948554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:25.787457 # Seafloor depth:-75.787457 # 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 100.223858 meters # Minimum depth: 82.730796 meters looking forward 100.000000 meters along route # Maximum depth: 89.784191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 32.730796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822718; longitude = -121.835312; captureRadius = 10; duration = 100; initialDepth = 32.730796; finalDepth = 25.787457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:32.730796 # Seafloor depth:-82.730796 # 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 100.223858 meters # Minimum depth: 90.115304 meters looking forward 100.000000 meters along route # Maximum depth: 96.083153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 40.115304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821821; longitude = -121.835452; captureRadius = 10; duration = 100; initialDepth = 40.115304; finalDepth = 32.730796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:40.115304 # Seafloor depth:-90.115304 # 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 100.223858 meters # Minimum depth: 96.266291 meters looking forward 100.000000 meters along route # Maximum depth: 102.226380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 46.266291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820925; longitude = -121.835592; captureRadius = 10; duration = 100; initialDepth = 46.266291; finalDepth = 40.115304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:46.266291 # Seafloor depth:-96.266291 # 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 104.412537 meters # Minimum depth: 102.366333 meters looking forward 100.000000 meters along route # Maximum depth: 105.772927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 52.366333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820029; longitude = -121.835732; captureRadius = 10; duration = 104; initialDepth = 52.366333; finalDepth = 46.266291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:52.366333 # Seafloor depth:-102.366333 # 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 72.533701 meters # Minimum depth: 104.606854 meters looking forward 100.000000 meters along route # Maximum depth: 107.387942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 54.606854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819095; longitude = -121.835878; captureRadius = 10; duration = 72; initialDepth = 54.606854; finalDepth = 52.366333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.232736 # Actual altitude: 51.232736 # Commanded vehicle depth:54.606854 # Seafloor depth:-105.839590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 102.001847 meters # Minimum depth: 107.392242 meters looking forward 100.000000 meters along route # Maximum depth: 112.642118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 57.392242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818459; longitude = -121.836065; captureRadius = 10; duration = 102; initialDepth = 57.392242; finalDepth = 54.606854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.232736 # Actual altitude: 51.232736 # Commanded vehicle depth:57.392242 # Seafloor depth:-107.392242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 102.174776 meters # Minimum depth: 113.224495 meters looking forward 100.000000 meters along route # Maximum depth: 121.123619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 63.224495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817564; longitude = -121.836327; captureRadius = 10; duration = 102; initialDepth = 63.224495; finalDepth = 57.392242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:63.224495 # Seafloor depth:-113.224495 # 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 137 # Segment length 100.534222 meters # Minimum depth: 121.600040 meters looking forward 100.000000 meters along route # Maximum depth: 128.734944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 71.600040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816668; longitude = -121.836590; captureRadius = 10; duration = 100; initialDepth = 71.600040; finalDepth = 63.224495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:71.60004 # Seafloor depth:-121.600040 # 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 137 # Segment length 101.634694 meters # Minimum depth: 127.657125 meters looking forward 100.000000 meters along route # Maximum depth: 128.776848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 77.657125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815786; longitude = -121.836849; captureRadius = 10; duration = 101; initialDepth = 77.657125; finalDepth = 71.600040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.119723 # Actual altitude: 51.119723 # Commanded vehicle depth:77.657125 # Seafloor depth:-128.776848 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.48; 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 = 204.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 33.477682 meters # Minimum depth: 127.657125 meters looking forward 100.000000 meters along route # Maximum depth: 130.156448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 77.657125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814894; longitude = -121.837111; captureRadius = 10; duration = 33; initialDepth = 77.657125; finalDepth = 77.657125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.119723 # Actual altitude: 51.119723 # Commanded vehicle depth:77.657125 # Seafloor depth:-128.185764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.48; 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 = 204.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 100.279582 meters # Minimum depth: 130.775988 meters looking forward 100.000000 meters along route # Maximum depth: 134.013630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 80.775988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814595; longitude = -121.837159; captureRadius = 10; duration = 100; initialDepth = 80.775988; finalDepth = 77.657125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.528639 # Actual altitude: 50.528639 # Commanded vehicle depth:80.775988 # Seafloor depth:-130.818480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 100.279584 meters # Minimum depth: 134.159228 meters looking forward 100.000000 meters along route # Maximum depth: 138.216802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 84.159228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813698; longitude = -121.837304; captureRadius = 10; duration = 100; initialDepth = 84.159228; finalDepth = 80.775988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.042492 # Actual altitude: 50.042492 # Commanded vehicle depth:84.159228 # Seafloor depth:-134.159228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.17; 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 = 200.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 136 # Segment length 102.378311 meters # Minimum depth: 138.641325 meters looking forward 100.000000 meters along route # Maximum depth: 144.257622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 88.641325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812802; longitude = -121.837449; captureRadius = 10; duration = 102; initialDepth = 88.641325; finalDepth = 84.159228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:88.641325 # Seafloor depth:-138.641325 # 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 135 # Segment length 63.700762 meters # Minimum depth: 143.753199 meters looking forward 100.000000 meters along route # Maximum depth: 144.768011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 93.753199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811887; longitude = -121.837597; captureRadius = 10; duration = 63; initialDepth = 93.753199; finalDepth = 88.641325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.121866 # Actual altitude: 50.121866 # Commanded vehicle depth:93.753199 # Seafloor depth:-143.875065 # 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 135 # Segment length 105.452488 meters # Minimum depth: 145.291785 meters looking forward 100.000000 meters along route # Maximum depth: 148.361247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 95.291785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811346; longitude = -121.837835; captureRadius = 10; duration = 105; initialDepth = 95.291785; finalDepth = 93.753199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.121866 # Actual altitude: 50.121866 # Commanded vehicle depth:95.291785 # Seafloor depth:-145.291785 # 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 135 # Segment length 101.085431 meters # Minimum depth: 148.502936 meters looking forward 100.000000 meters along route # Maximum depth: 151.512205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 98.502936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810449; longitude = -121.838228; captureRadius = 10; duration = 101; initialDepth = 98.502936; finalDepth = 95.291785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:98.502936 # Seafloor depth:-148.502936 # 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 134 # Segment length 88.351406 meters # Minimum depth: 151.150222 meters looking forward 100.000000 meters along route # Maximum depth: 156.087673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 101.150222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809590; longitude = -121.838605; captureRadius = 10; duration = 88; initialDepth = 101.150222; finalDepth = 98.502936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.317059 # Actual altitude: 50.317059 # Commanded vehicle depth:101.150222 # Seafloor depth:-151.467281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 134 # Segment length 101.243215 meters # Minimum depth: 156.451652 meters looking forward 100.000000 meters along route # Maximum depth: 160.232716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 106.451652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809085; longitude = -121.839371; captureRadius = 10; duration = 101; initialDepth = 106.451652; finalDepth = 101.150222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.317059 # Actual altitude: 50.317059 # Commanded vehicle depth:106.451652 # Seafloor depth:-156.451652 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 133 # Segment length 18.757619 meters # Minimum depth: 158.427651 meters looking forward 100.000000 meters along route # Maximum depth: 161.177381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 108.427651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808507; longitude = -121.840249; captureRadius = 10; duration = 18; initialDepth = 108.427651; finalDepth = 106.451652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.033672 # Actual altitude: 52.033672 # Commanded vehicle depth:108.427651 # Seafloor depth:-160.461323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 100.072943 meters # Minimum depth: 160.998314 meters looking forward 100.000000 meters along route # Maximum depth: 166.163722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 110.998314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808432; longitude = -121.840438; captureRadius = 10; duration = 100; initialDepth = 110.998314; finalDepth = 108.427651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.033672 # Actual altitude: 52.033672 # Commanded vehicle depth:110.998314 # Seafloor depth:-161.171341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 102.116800 meters # Minimum depth: 166.336311 meters looking forward 100.000000 meters along route # Maximum depth: 174.743158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 116.336311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808035; longitude = -121.841445; captureRadius = 10; duration = 102; initialDepth = 116.336311; finalDepth = 110.998314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.173027 # Actual altitude: 50.173027 # Commanded vehicle depth:116.336311 # Seafloor depth:-166.336311 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.69; 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 = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 132 # Segment length 92.210983 meters # Minimum depth: 174.300402 meters looking forward 100.000000 meters along route # Maximum depth: 181.330098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 124.300402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807629; longitude = -121.842472; captureRadius = 10; duration = 92; initialDepth = 124.300402; finalDepth = 116.336311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.745367 # Actual altitude: 50.745367 # Commanded vehicle depth:124.300402 # Seafloor depth:-175.045769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 100.379261 meters # Minimum depth: 180.498705 meters looking forward 100.000000 meters along route # Maximum depth: 187.721299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 130.498705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807200; longitude = -121.843357; captureRadius = 10; duration = 100; initialDepth = 130.498705; finalDepth = 124.300402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.745367 # Actual altitude: 50.745367 # Commanded vehicle depth:130.498705 # Seafloor depth:-180.939736 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 131 # Segment length 26.423882 meters # Minimum depth: 182.530737 meters looking forward 100.000000 meters along route # Maximum depth: 188.227502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 132.530737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806733; longitude = -121.844321; captureRadius = 10; duration = 26; initialDepth = 132.530737; finalDepth = 130.498705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.963594 # Actual altitude: 54.963594 # Commanded vehicle depth:132.530737 # Seafloor depth:-187.494331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 103.143861 meters # Minimum depth: 187.754698 meters looking forward 100.000000 meters along route # Maximum depth: 193.315083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 137.754698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806562; longitude = -121.844527; captureRadius = 10; duration = 103; initialDepth = 137.754698; finalDepth = 132.530737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.963594 # Actual altitude: 54.963594 # Commanded vehicle depth:137.754698 # Seafloor depth:-188.276030 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 48.276090 meters # Minimum depth: 189.212460 meters looking forward 100.000000 meters along route # Maximum depth: 198.097761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 139.212460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805893; longitude = -121.845330; captureRadius = 10; duration = 48; initialDepth = 139.212460; finalDepth = 137.754698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.307804 # Actual altitude: 54.307804 # Commanded vehicle depth:139.21246 # Seafloor depth:-193.520264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.23; 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 = 217.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 100.263448 meters # Minimum depth: 198.897802 meters looking forward 100.000000 meters along route # Maximum depth: 205.700746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 148.897802 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805701; longitude = -121.845816; captureRadius = 10; duration = 100; initialDepth = 148.897802; finalDepth = 139.212460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.307804 # Actual altitude: 54.307804 # Commanded vehicle depth:148.897802 # Seafloor depth:-198.897802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.23; 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 = 217.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 100.263841 meters # Minimum depth: 205.794679 meters looking forward 100.000000 meters along route # Maximum depth: 216.122856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 155.794679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805303; longitude = -121.846824; captureRadius = 10; duration = 100; initialDepth = 155.794679; finalDepth = 148.897802; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:155.794679 # Seafloor depth:-205.794679 # 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 130 # Segment length 100.264236 meters # Minimum depth: 216.577409 meters looking forward 100.000000 meters along route # Maximum depth: 223.275274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 166.577409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804904; longitude = -121.847833; captureRadius = 10; duration = 100; initialDepth = 166.577409; finalDepth = 155.794679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:166.577409 # Seafloor depth:-216.577409 # 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 130 # Segment length 102.097496 meters # Minimum depth: 223.325295 meters looking forward 100.000000 meters along route # Maximum depth: 239.795323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 173.325295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804506; longitude = -121.848842; captureRadius = 10; duration = 102; initialDepth = 173.325295; finalDepth = 166.577409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:173.325295 # Seafloor depth:-223.325295 # 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 129 # Segment length 19.519624 meters # Minimum depth: 225.025998 meters looking forward 100.000000 meters along route # Maximum depth: 242.195216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 175.025998 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804100; longitude = -121.849869; captureRadius = 10; duration = 19; initialDepth = 175.025998; finalDepth = 173.325295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.169505 # Actual altitude: 65.169505 # Commanded vehicle depth:175.025998 # Seafloor depth:-240.195503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 260.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 102.119123 meters # Minimum depth: 242.671091 meters looking forward 100.000000 meters along route # Maximum depth: 262.081825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 192.671091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804040; longitude = -121.850075; captureRadius = 10; duration = 102; initialDepth = 192.671091; finalDepth = 175.025998; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.169505 # Actual altitude: 65.169505 # Commanded vehicle depth:192.671091 # Seafloor depth:-242.671091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 260.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 103.522974 meters # Minimum depth: 262.459645 meters looking forward 100.000000 meters along route # Maximum depth: 280.872618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 212.459645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803727; longitude = -121.851151; captureRadius = 10; duration = 103; initialDepth = 212.459645; finalDepth = 192.671091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:212.459645 # Seafloor depth:-262.459645 # 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 128 # Segment length 21.688152 meters # Minimum depth: 276.845556 meters looking forward 100.000000 meters along route # Maximum depth: 280.872618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 226.845556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803409; longitude = -121.852242; captureRadius = 10; duration = 21; initialDepth = 226.845556; finalDepth = 212.459645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.465746 # Actual altitude: 53.465746 # Commanded vehicle depth:226.845556 # Seafloor depth:-280.311302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 100.266822 meters # Minimum depth: 279.872550 meters looking forward 100.000000 meters along route # Maximum depth: 284.151597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 229.872550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803395; longitude = -121.852484; captureRadius = 10; duration = 100; initialDepth = 229.872550; finalDepth = 226.845556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.465746 # Actual altitude: 53.465746 # Commanded vehicle depth:229.87255 # Seafloor depth:-279.872550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 101.964180 meters # Minimum depth: 284.226976 meters looking forward 100.000000 meters along route # Maximum depth: 288.655152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 234.226976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803328; longitude = -121.853605; captureRadius = 10; duration = 101; initialDepth = 234.226976; finalDepth = 229.872550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:234.226976 # Seafloor depth:-284.226976 # 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 127 # Segment length 23.761853 meters # Minimum depth: 285.466460 meters looking forward 100.000000 meters along route # Maximum depth: 290.024967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 235.466460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803260; longitude = -121.854745; captureRadius = 10; duration = 23; initialDepth = 235.466460; finalDepth = 234.226976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.301751 # Actual altitude: 53.301751 # Commanded vehicle depth:235.46646 # Seafloor depth:-288.768211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 103.676868 meters # Minimum depth: 290.079304 meters looking forward 100.000000 meters along route # Maximum depth: 319.492162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 240.079304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803218; longitude = -121.855006; captureRadius = 10; duration = 103; initialDepth = 240.079304; finalDepth = 235.466460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.301751 # Actual altitude: 53.301751 # Commanded vehicle depth:240.079304 # Seafloor depth:-290.079304 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 65.686433 meters # Minimum depth: 307.359027 meters looking forward 100.000000 meters along route # Maximum depth: 325.177658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 257.359027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803036; longitude = -121.856146; captureRadius = 10; duration = 65; initialDepth = 257.359027; finalDepth = 240.079304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.29073 # Actual altitude: 62.29073 # Commanded vehicle depth:257.359027 # Seafloor depth:-319.649757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 249.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 101.378083 meters # Minimum depth: 326.062174 meters looking forward 100.000000 meters along route # Maximum depth: 344.406497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 276.062174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802830; longitude = -121.856836; captureRadius = 10; duration = 101; initialDepth = 276.062174; finalDepth = 257.359027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.29073 # Actual altitude: 62.29073 # Commanded vehicle depth:276.062174 # Seafloor depth:-326.062174 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 249.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 2.644577 meters # Minimum depth: 328.159741 meters looking forward 100.000000 meters along route # Maximum depth: 344.671333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 278.159741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802513; longitude = -121.857902; captureRadius = 10; duration = 2; initialDepth = 278.159741; finalDepth = 276.062174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.511592 # Actual altitude: 66.511592 # Commanded vehicle depth:278.159741 # Seafloor depth:-344.671333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 266.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 102.668523 meters # Minimum depth: 337.219295 meters looking forward 100.000000 meters along route # Maximum depth: 344.839852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 287.219295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802494; longitude = -121.857884; captureRadius = 10; duration = 102; initialDepth = 287.219295; finalDepth = 278.159741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.511592 # Actual altitude: 66.511592 # Commanded vehicle depth:287.219295 # Seafloor depth:-344.839852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 266.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 102.730885 meters # Minimum depth: 333.361849 meters looking forward 100.000000 meters along route # Maximum depth: 337.405238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 283.361849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801766; longitude = -121.857174; captureRadius = 10; duration = 102; initialDepth = 283.361849; finalDepth = 287.219295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.620557 # Actual altitude: 57.620557 # Commanded vehicle depth:283.361849 # Seafloor depth:-337.131797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 230.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 105.345612 meters # Minimum depth: 330.589521 meters looking forward 100.000000 meters along route # Maximum depth: 333.428372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 280.589521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801037; longitude = -121.856463; captureRadius = 10; duration = 105; initialDepth = 280.589521; finalDepth = 283.361849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.769948 # Actual altitude: 53.769948 # Commanded vehicle depth:280.589521 # Seafloor depth:-333.428372 # 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 102.631319 meters # Minimum depth: 326.789988 meters looking forward 100.000000 meters along route # Maximum depth: 330.758247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 276.789988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800290; longitude = -121.855735; captureRadius = 10; duration = 102; initialDepth = 276.789988; finalDepth = 280.589521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.905726 # Actual altitude: 53.905726 # Commanded vehicle depth:276.789988 # Seafloor depth:-330.695714 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 82.735223 meters # Minimum depth: 326.488882 meters looking forward 100.000000 meters along route # Maximum depth: 329.273855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 276.488882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799562; longitude = -121.855025; captureRadius = 10; duration = 82; initialDepth = 276.488882; finalDepth = 276.789988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.905726 # Actual altitude: 53.905726 # Commanded vehicle depth:276.488882 # Seafloor depth:-326.752769 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 100.406963 meters # Minimum depth: 321.032037 meters looking forward 100.000000 meters along route # Maximum depth: 326.788192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 271.032037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798946; longitude = -121.854502; captureRadius = 10; duration = 100; initialDepth = 271.032037; finalDepth = 276.488882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.396738 # Actual altitude: 55.396738 # Commanded vehicle depth:271.032037 # Seafloor depth:-326.428775 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 67.703765 meters # Minimum depth: 314.255687 meters looking forward 100.000000 meters along route # Maximum depth: 322.899993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 264.255687 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798199; longitude = -121.853867; captureRadius = 10; duration = 67; initialDepth = 264.255687; finalDepth = 271.032037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.061787 # Actual altitude: 57.061787 # Commanded vehicle depth:264.255687 # Seafloor depth:-321.317474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 102.956649 meters # Minimum depth: 313.683812 meters looking forward 100.000000 meters along route # Maximum depth: 317.256646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 263.683812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797732; longitude = -121.853378; captureRadius = 10; duration = 102; initialDepth = 263.683812; finalDepth = 264.255687; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.061787 # Actual altitude: 57.061787 # Commanded vehicle depth:263.683812 # Seafloor depth:-314.281619 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 228.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 59.275972 meters # Minimum depth: 315.033182 meters looking forward 100.000000 meters along route # Maximum depth: 316.462325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 265.033182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797023; longitude = -121.852634; captureRadius = 10; duration = 59; initialDepth = 265.033182; finalDepth = 263.683812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.597807 # Actual altitude: 50.597807 # Commanded vehicle depth:265.033182 # Seafloor depth:-315.598183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 122 # Segment length 104.835650 meters # Minimum depth: 313.609214 meters looking forward 100.000000 meters along route # Maximum depth: 315.192045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 263.609214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796659; longitude = -121.852148; captureRadius = 10; duration = 104; initialDepth = 263.609214; finalDepth = 265.033182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.582831 # Actual altitude: 51.582831 # Commanded vehicle depth:263.609214 # Seafloor depth:-315.192045 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.33; 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 = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 44.283084 meters # Minimum depth: 312.288441 meters looking forward 100.000000 meters along route # Maximum depth: 314.815266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 262.288441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796014; longitude = -121.851289; captureRadius = 10; duration = 44; initialDepth = 262.288441; finalDepth = 263.609214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.582831 # Actual altitude: 51.582831 # Commanded vehicle depth:262.288441 # Seafloor depth:-313.700996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.33; 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 = 206.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 121 # Segment length 103.949146 meters # Minimum depth: 309.167819 meters looking forward 100.000000 meters along route # Maximum depth: 312.623341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 259.167819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795814; longitude = -121.850859; captureRadius = 10; duration = 103; initialDepth = 259.167819; finalDepth = 262.288441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.455522 # Actual altitude: 53.455522 # Commanded vehicle depth:259.167819 # Seafloor depth:-312.623341 # behavior reson { duration = 6; 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 during line 121 # Segment length 100.120565 meters # Minimum depth: 304.425301 meters looking forward 100.000000 meters along route # Maximum depth: 309.770228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 254.425301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795346; longitude = -121.849851; captureRadius = 10; duration = 100; initialDepth = 254.425301; finalDepth = 259.167819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.344927 # Actual altitude: 55.344927 # Commanded vehicle depth:254.425301 # Seafloor depth:-309.770228 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 80.924976 meters # Minimum depth: 302.308376 meters looking forward 100.000000 meters along route # Maximum depth: 305.530142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 252.308376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794894; longitude = -121.848879; captureRadius = 10; duration = 80; initialDepth = 252.308376; finalDepth = 254.425301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.344927 # Actual altitude: 55.344927 # Commanded vehicle depth:252.308376 # Seafloor depth:-304.321526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 221.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 104.860942 meters # Minimum depth: 297.503050 meters looking forward 100.000000 meters along route # Maximum depth: 302.148388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 247.503050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794585; longitude = -121.848057; captureRadius = 10; duration = 104; initialDepth = 247.503050; finalDepth = 252.308376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.645338 # Actual altitude: 54.645338 # Commanded vehicle depth:247.50305 # Seafloor depth:-302.148388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 103.066134 meters # Minimum depth: 293.027296 meters looking forward 100.000000 meters along route # Maximum depth: 297.703623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 243.027296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794185; longitude = -121.846993; captureRadius = 10; duration = 103; initialDepth = 243.027296; finalDepth = 247.503050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.645338 # Actual altitude: 54.645338 # Commanded vehicle depth:243.027296 # Seafloor depth:-297.578055 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.86; MB_Bottom_Detect_Filter_Max_Range = 218.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 62.231098 meters # Minimum depth: 290.598703 meters looking forward 100.000000 meters along route # Maximum depth: 295.400205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 240.598703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793792; longitude = -121.845946; captureRadius = 10; duration = 62; initialDepth = 240.598703; finalDepth = 243.027296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.550759 # Actual altitude: 54.550759 # Commanded vehicle depth:240.598703 # Seafloor depth:-292.953842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 119 # Segment length 102.596476 meters # Minimum depth: 287.031274 meters looking forward 100.000000 meters along route # Maximum depth: 290.290411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 237.031274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793559; longitude = -121.845311; captureRadius = 10; duration = 102; initialDepth = 237.031274; finalDepth = 240.598703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.259137 # Actual altitude: 53.259137 # Commanded vehicle depth:237.031274 # Seafloor depth:-290.290411 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.04; 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 = 213.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 75.788133 meters # Minimum depth: 284.441731 meters looking forward 100.000000 meters along route # Maximum depth: 287.509949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 234.441731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793176; longitude = -121.844265; captureRadius = 10; duration = 75; initialDepth = 234.441731; finalDepth = 237.031274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.259137 # Actual altitude: 53.259137 # Commanded vehicle depth:234.441731 # Seafloor depth:-286.914986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.04; 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 = 213.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 102.219075 meters # Minimum depth: 280.221611 meters looking forward 100.000000 meters along route # Maximum depth: 284.392753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 230.221611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792953; longitude = -121.843462; captureRadius = 10; duration = 102; initialDepth = 230.221611; finalDepth = 234.441731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.171142 # Actual altitude: 54.171142 # Commanded vehicle depth:230.221611 # Seafloor depth:-284.392753 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.68; 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 = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 77.240419 meters # Minimum depth: 277.392800 meters looking forward 100.000000 meters along route # Maximum depth: 280.458360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 227.392800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792653; longitude = -121.842379; captureRadius = 10; duration = 77; initialDepth = 227.392800; finalDepth = 230.221611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.171142 # Actual altitude: 54.171142 # Commanded vehicle depth:227.3928 # Seafloor depth:-280.403046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.68; 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 = 216.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 101.786448 meters # Minimum depth: 273.025788 meters looking forward 100.000000 meters along route # Maximum depth: 277.215559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 223.025788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792436; longitude = -121.841557; captureRadius = 10; duration = 101; initialDepth = 223.025788; finalDepth = 227.392800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.189771 # Actual altitude: 54.189771 # Commanded vehicle depth:223.025788 # Seafloor depth:-277.215559 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 49.786936 meters # Minimum depth: 271.486006 meters looking forward 100.000000 meters along route # Maximum depth: 275.234517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 221.486006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792149; longitude = -121.840473; captureRadius = 10; duration = 49; initialDepth = 221.486006; finalDepth = 223.025788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.189771 # Actual altitude: 54.189771 # Commanded vehicle depth:221.486006 # Seafloor depth:-272.917709 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 216.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.770822 meters # Minimum depth: 267.273040 meters looking forward 100.000000 meters along route # Maximum depth: 271.804149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 217.273040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792041; longitude = -121.839932; captureRadius = 10; duration = 104; initialDepth = 217.273040; finalDepth = 221.486006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.531109 # Actual altitude: 54.531109 # Commanded vehicle depth:217.27304 # Seafloor depth:-271.804149 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 87.784338 meters # Minimum depth: 264.567763 meters looking forward 100.000000 meters along route # Maximum depth: 268.349465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 214.567763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791813; longitude = -121.838792; captureRadius = 10; duration = 87; initialDepth = 214.567763; finalDepth = 217.273040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.531109 # Actual altitude: 54.531109 # Commanded vehicle depth:214.567763 # Seafloor depth:-267.081497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 115 # Segment length 103.581228 meters # Minimum depth: 258.344591 meters looking forward 100.000000 meters along route # Maximum depth: 264.462109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 208.344591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791564; longitude = -121.837858; captureRadius = 10; duration = 103; initialDepth = 208.344591; finalDepth = 214.567763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.117518 # Actual altitude: 56.117518 # Commanded vehicle depth:208.344591 # Seafloor depth:-264.462109 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.47; 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 = 224.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 95.918236 meters # Minimum depth: 253.019386 meters looking forward 100.000000 meters along route # Maximum depth: 258.344591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 203.019386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791271; longitude = -121.836756; captureRadius = 10; duration = 95; initialDepth = 203.019386; finalDepth = 208.344591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.117518 # Actual altitude: 56.117518 # Commanded vehicle depth:203.019386 # Seafloor depth:-257.852814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.47; 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 = 224.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 101.149697 meters # Minimum depth: 249.545790 meters looking forward 100.000000 meters along route # Maximum depth: 252.833204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 199.545790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791017; longitude = -121.835729; captureRadius = 10; duration = 101; initialDepth = 199.545790; finalDepth = 203.019386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.833428 # Actual altitude: 54.833428 # Commanded vehicle depth:199.54579 # Seafloor depth:-252.833204 # 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 113 # Segment length 26.242555 meters # Minimum depth: 249.545790 meters looking forward 100.000000 meters along route # Maximum depth: 251.139927 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 199.545790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790749; longitude = -121.834645; captureRadius = 10; duration = 26; initialDepth = 199.545790; finalDepth = 199.545790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.287414 # Actual altitude: 53.287414 # Commanded vehicle depth:199.54579 # Seafloor depth:-250.189327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 213.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 105.051657 meters # Minimum depth: 247.309799 meters looking forward 100.000000 meters along route # Maximum depth: 250.247835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 197.309799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790641; longitude = -121.834384; captureRadius = 10; duration = 105; initialDepth = 197.309799; finalDepth = 199.545790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.938036 # Actual altitude: 52.938036 # Commanded vehicle depth:197.309799 # Seafloor depth:-250.247835 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 112 # Segment length 22.853412 meters # Minimum depth: 243.994810 meters looking forward 100.000000 meters along route # Maximum depth: 249.713159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 193.994810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790207; longitude = -121.833337; captureRadius = 10; duration = 22; initialDepth = 193.994810; finalDepth = 197.309799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.938036 # Actual altitude: 52.938036 # Commanded vehicle depth:193.99481 # Seafloor depth:-246.854298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 100.483792 meters # Minimum depth: 237.515219 meters looking forward 100.000000 meters along route # Maximum depth: 243.524737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 187.515219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790114; longitude = -121.833109; captureRadius = 10; duration = 100; initialDepth = 187.515219; finalDepth = 193.994810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.009518 # Actual altitude: 56.009518 # Commanded vehicle depth:187.515219 # Seafloor depth:-243.524737 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.04; 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 = 224.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 12.451297 meters # Minimum depth: 237.232168 meters looking forward 100.000000 meters along route # Maximum depth: 242.803951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 187.232168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789703; longitude = -121.832105; captureRadius = 10; duration = 12; initialDepth = 187.232168; finalDepth = 187.515219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.009518 # Actual altitude: 56.009518 # Commanded vehicle depth:187.232168 # Seafloor depth:-237.511299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.04; 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 = 224.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 111 # Segment length 102.898548 meters # Minimum depth: 232.224120 meters looking forward 100.000000 meters along route # Maximum depth: 237.222952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 182.224120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789665; longitude = -121.831974; captureRadius = 10; duration = 102; initialDepth = 182.224120; finalDepth = 187.232168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.998832 # Actual altitude: 54.998832 # Commanded vehicle depth:182.22412 # Seafloor depth:-237.222952 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 28.356542 meters # Minimum depth: 232.034529 meters looking forward 100.000000 meters along route # Maximum depth: 235.080317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 182.034529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789348; longitude = -121.830890; captureRadius = 10; duration = 28; initialDepth = 182.034529; finalDepth = 182.224120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.998832 # Actual altitude: 54.998832 # Commanded vehicle depth:182.034529 # Seafloor depth:-232.459755 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 103.524671 meters # Minimum depth: 232.124108 meters looking forward 100.000000 meters along route # Maximum depth: 234.005482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 182.124108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789364; longitude = -121.830573; captureRadius = 10; duration = 103; initialDepth = 182.124108; finalDepth = 182.034529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.425226 # Actual altitude: 50.425226 # Commanded vehicle depth:182.124108 # Seafloor depth:-232.124108 # 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 = 151.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 37.433553 meters # Minimum depth: 230.695486 meters looking forward 100.000000 meters along route # Maximum depth: 236.093264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 180.695486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789423; longitude = -121.829415; captureRadius = 10; duration = 37; initialDepth = 180.695486; finalDepth = 182.124108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.487635 # Actual altitude: 52.487635 # Commanded vehicle depth:180.695486 # Seafloor depth:-233.183121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 109 # Segment length 101.790394 meters # Minimum depth: 230.180156 meters looking forward 100.000000 meters along route # Maximum depth: 232.054717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 180.180156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789553; longitude = -121.829028; captureRadius = 10; duration = 101; initialDepth = 180.180156; finalDepth = 180.695486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.487635 # Actual altitude: 52.487635 # Commanded vehicle depth:180.180156 # Seafloor depth:-230.969370 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 33.874077 meters # Minimum depth: 229.432200 meters looking forward 100.000000 meters along route # Maximum depth: 231.582879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 179.432200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789908; longitude = -121.827976; captureRadius = 10; duration = 33; initialDepth = 179.432200; finalDepth = 180.180156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.822584 # Actual altitude: 50.822584 # Commanded vehicle depth:179.4322 # Seafloor depth:-230.254784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 105.692346 meters # Minimum depth: 227.350664 meters looking forward 100.000000 meters along route # Maximum depth: 229.784703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.350664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790076; longitude = -121.827659; captureRadius = 10; duration = 105; initialDepth = 177.350664; finalDepth = 179.432200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.24689 # Actual altitude: 52.24689 # Commanded vehicle depth:177.350664 # Seafloor depth:-229.597554 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.99; 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 = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 8.128655 meters # Minimum depth: 227.115701 meters looking forward 100.000000 meters along route # Maximum depth: 229.326248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.115701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790599; longitude = -121.826669; captureRadius = 10; duration = 8; initialDepth = 177.115701; finalDepth = 177.350664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.24689 # Actual altitude: 52.24689 # Commanded vehicle depth:177.115701 # Seafloor depth:-227.206654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.99; 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 = 208.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 101.261304 meters # Minimum depth: 225.357530 meters looking forward 100.000000 meters along route # Maximum depth: 227.447250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 175.357530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790641; longitude = -121.826594; captureRadius = 10; duration = 101; initialDepth = 175.357530; finalDepth = 177.115701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.848311 # Actual altitude: 51.848311 # Commanded vehicle depth:175.35753 # Seafloor depth:-227.205841 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 22.539491 meters # Minimum depth: 224.396951 meters looking forward 100.000000 meters along route # Maximum depth: 227.171676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 174.396951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791159; longitude = -121.825660; captureRadius = 10; duration = 22; initialDepth = 174.396951; finalDepth = 175.357530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.848311 # Actual altitude: 51.848311 # Commanded vehicle depth:174.396951 # Seafloor depth:-225.177402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 103.688908 meters # Minimum depth: 221.252038 meters looking forward 100.000000 meters along route # Maximum depth: 224.420445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 171.252038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791296; longitude = -121.825473; captureRadius = 10; duration = 103; initialDepth = 171.252038; finalDepth = 174.396951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.152163 # Actual altitude: 53.152163 # Commanded vehicle depth:171.252038 # Seafloor depth:-224.404201 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.61; 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 = 212.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 89.951640 meters # Minimum depth: 216.697929 meters looking forward 100.000000 meters along route # Maximum depth: 221.987480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 166.697929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791925; longitude = -121.824614; captureRadius = 10; duration = 89; initialDepth = 166.697929; finalDepth = 171.252038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.931931 # Actual altitude: 54.931931 # Commanded vehicle depth:166.697929 # Seafloor depth:-221.629860 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.73; 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 = 219.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 23.145063 meters # Minimum depth: 215.882780 meters looking forward 100.000000 meters along route # Maximum depth: 221.832738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 165.882780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.823885; captureRadius = 10; duration = 23; initialDepth = 165.882780; finalDepth = 166.697929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.931931 # Actual altitude: 54.931931 # Commanded vehicle depth:165.88278 # Seafloor depth:-216.656193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.73; 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 = 219.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 101.126630 meters # Minimum depth: 214.067380 meters looking forward 100.000000 meters along route # Maximum depth: 217.010176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 164.067380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792635; longitude = -121.823704; captureRadius = 10; duration = 101; initialDepth = 164.067380; finalDepth = 165.882780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.640113 # Actual altitude: 51.640113 # Commanded vehicle depth:164.06738 # Seafloor depth:-215.707493 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 15.209023 meters # Minimum depth: 214.067380 meters looking forward 100.000000 meters along route # Maximum depth: 216.594724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 164.067380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793288; longitude = -121.822914; captureRadius = 10; duration = 15; initialDepth = 164.067380; finalDepth = 164.067380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.640113 # Actual altitude: 51.640113 # Commanded vehicle depth:164.06738 # Seafloor depth:-215.491444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 102.071169 meters # Minimum depth: 210.633244 meters looking forward 100.000000 meters along route # Maximum depth: 214.718045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 160.633244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793419; longitude = -121.822863; captureRadius = 10; duration = 102; initialDepth = 160.633244; finalDepth = 164.067380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.084801 # Actual altitude: 54.084801 # Commanded vehicle depth:160.633244 # Seafloor depth:-214.718045 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 10.199998 meters # Minimum depth: 210.529497 meters looking forward 100.000000 meters along route # Maximum depth: 214.245461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 160.529497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794297; longitude = -121.822522; captureRadius = 10; duration = 10; initialDepth = 160.529497; finalDepth = 160.633244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.084801 # Actual altitude: 54.084801 # Commanded vehicle depth:160.529497 # Seafloor depth:-211.026138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 101.053007 meters # Minimum depth: 206.783589 meters looking forward 100.000000 meters along route # Maximum depth: 210.471516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 156.783589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794388; longitude = -121.822503; captureRadius = 10; duration = 101; initialDepth = 156.783589; finalDepth = 160.529497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.687927 # Actual altitude: 53.687927 # Commanded vehicle depth:156.783589 # Seafloor depth:-210.471516 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.75; 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 = 214.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 10.392653 meters # Minimum depth: 206.783589 meters looking forward 100.000000 meters along route # Maximum depth: 210.038711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 156.783589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795286; longitude = -121.822316; captureRadius = 10; duration = 10; initialDepth = 156.783589; finalDepth = 156.783589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.687927 # Actual altitude: 53.687927 # Commanded vehicle depth:156.783589 # Seafloor depth:-206.878414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.75; 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 = 214.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 101.661828 meters # Minimum depth: 204.041775 meters looking forward 100.000000 meters along route # Maximum depth: 207.078436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 154.041775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795380; longitude = -121.822311; captureRadius = 10; duration = 101; initialDepth = 154.041775; finalDepth = 156.783589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.036661 # Actual altitude: 53.036661 # Commanded vehicle depth:154.041775 # Seafloor depth:-207.078436 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.15; 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 = 212.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 66.279536 meters # Minimum depth: 202.553786 meters looking forward 100.000000 meters along route # Maximum depth: 205.612394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 152.553786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796295; longitude = -121.822260; captureRadius = 10; duration = 66; initialDepth = 152.553786; finalDepth = 154.041775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.036661 # Actual altitude: 53.036661 # Commanded vehicle depth:152.553786 # Seafloor depth:-203.886456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.15; 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 = 212.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 101.543016 meters # Minimum depth: 197.860563 meters looking forward 100.000000 meters along route # Maximum depth: 202.320206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 147.860563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796892; longitude = -121.822238; captureRadius = 10; duration = 101; initialDepth = 147.860563; finalDepth = 152.553786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.459643 # Actual altitude: 54.459643 # Commanded vehicle depth:147.860563 # Seafloor depth:-202.320206 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.84; 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 = 217.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 22.808211 meters # Minimum depth: 197.860563 meters looking forward 100.000000 meters along route # Maximum depth: 200.704929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 147.860563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797807; longitude = -121.822204; captureRadius = 10; duration = 22; initialDepth = 147.860563; finalDepth = 147.860563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.459643 # Actual altitude: 54.459643 # Commanded vehicle depth:147.860563 # Seafloor depth:-198.130756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.84; 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 = 217.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 99 # Segment length 103.567862 meters # Minimum depth: 193.634360 meters looking forward 100.000000 meters along route # Maximum depth: 197.607507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 143.634360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798013; longitude = -121.822201; captureRadius = 10; duration = 103; initialDepth = 143.634360; finalDepth = 147.860563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.973147 # Actual altitude: 53.973147 # Commanded vehicle depth:143.63436 # Seafloor depth:-197.607507 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 90.628346 meters # Minimum depth: 189.927473 meters looking forward 100.000000 meters along route # Maximum depth: 193.634360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 139.927473 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798946; longitude = -121.822186; captureRadius = 10; duration = 90; initialDepth = 139.927473; finalDepth = 143.634360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.973147 # Actual altitude: 53.973147 # Commanded vehicle depth:139.927473 # Seafloor depth:-193.583073 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 90.789078 meters # Minimum depth: 188.268450 meters looking forward 100.000000 meters along route # Maximum depth: 191.828144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 138.268450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799731; longitude = -121.821905; captureRadius = 10; duration = 90; initialDepth = 138.268450; finalDepth = 139.927473; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6556 # Actual altitude: 53.6556 # Commanded vehicle depth:138.26845 # Seafloor depth:-191.654507 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 12.691661 meters # Minimum depth: 187.843608 meters looking forward 100.000000 meters along route # Maximum depth: 191.544068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 137.843608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799843; longitude = -121.820897; captureRadius = 10; duration = 12; initialDepth = 137.843608; finalDepth = 138.268450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.386057 # Actual altitude: 53.386057 # Commanded vehicle depth:137.843608 # Seafloor depth:-188.172146 # 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 96 # Segment length 104.911762 meters # Minimum depth: 184.148446 meters looking forward 100.000000 meters along route # Maximum depth: 187.746321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 134.148446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799799; longitude = -121.820766; captureRadius = 10; duration = 104; initialDepth = 134.148446; finalDepth = 137.843608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.597875 # Actual altitude: 53.597875 # Commanded vehicle depth:134.148446 # Seafloor depth:-187.746321 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 88.934989 meters # Minimum depth: 179.987871 meters looking forward 100.000000 meters along route # Maximum depth: 184.701356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 129.987871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799432; longitude = -121.819682; captureRadius = 10; duration = 88; initialDepth = 129.987871; finalDepth = 134.148446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.023524 # Actual altitude: 54.023524 # Commanded vehicle depth:129.987871 # Seafloor depth:-184.011395 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 7.063023 meters # Minimum depth: 179.987871 meters looking forward 100.000000 meters along route # Maximum depth: 184.148446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 129.987871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799114; longitude = -121.818767; captureRadius = 10; duration = 7; initialDepth = 129.987871; finalDepth = 129.987871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.023524 # Actual altitude: 54.023524 # Commanded vehicle depth:129.987871 # Seafloor depth:-180.478897 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 100.814622 meters # Minimum depth: 178.442992 meters looking forward 100.000000 meters along route # Maximum depth: 179.960645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 128.442992 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799093; longitude = -121.818692; captureRadius = 10; duration = 100; initialDepth = 128.442992; finalDepth = 129.987871; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.448562 # Actual altitude: 51.448562 # Commanded vehicle depth:128.442992 # Seafloor depth:-179.891554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.79; 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 = 205.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 102.603498 meters # Minimum depth: 175.502847 meters looking forward 100.000000 meters along route # Maximum depth: 178.665728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 125.502847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798789; longitude = -121.817628; captureRadius = 10; duration = 102; initialDepth = 125.502847; finalDepth = 128.442992; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.162881 # Actual altitude: 53.162881 # Commanded vehicle depth:125.502847 # Seafloor depth:-178.665728 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.65; 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 = 212.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 8.350150 meters # Minimum depth: 175.502847 meters looking forward 100.000000 meters along route # Maximum depth: 178.072739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 125.502847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798479; longitude = -121.816544; captureRadius = 10; duration = 8; initialDepth = 125.502847; finalDepth = 125.502847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.162881 # Actual altitude: 53.162881 # Commanded vehicle depth:125.502847 # Seafloor depth:-175.506508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.65; 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 = 212.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 103.743260 meters # Minimum depth: 169.810148 meters looking forward 100.000000 meters along route # Maximum depth: 175.247720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 119.810148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798472; longitude = -121.816451; captureRadius = 10; duration = 103; initialDepth = 119.810148; finalDepth = 125.502847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.437572 # Actual altitude: 55.437572 # Commanded vehicle depth:119.810148 # Seafloor depth:-175.247720 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 7.216770 meters # Minimum depth: 169.606430 meters looking forward 100.000000 meters along route # Maximum depth: 174.460943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 119.606430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798386; longitude = -121.815293; captureRadius = 10; duration = 7; initialDepth = 119.606430; finalDepth = 119.810148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.437572 # Actual altitude: 55.437572 # Commanded vehicle depth:119.60643 # Seafloor depth:-169.786049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.18; MB_Bottom_Detect_Filter_Max_Range = 221.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 92 # Segment length 104.206281 meters # Minimum depth: 161.605807 meters looking forward 100.000000 meters along route # Maximum depth: 169.844793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 111.605807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798410; longitude = -121.815218; captureRadius = 10; duration = 104; initialDepth = 111.605807; finalDepth = 119.606430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.238986 # Actual altitude: 58.238986 # Commanded vehicle depth:111.605807 # Seafloor depth:-169.844793 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 40.354595 meters # Minimum depth: 161.605807 meters looking forward 100.000000 meters along route # Maximum depth: 164.745819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 111.605807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798760; longitude = -121.814134; captureRadius = 10; duration = 40; initialDepth = 111.605807; finalDepth = 111.605807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.238986 # Actual altitude: 58.238986 # Commanded vehicle depth:111.605807 # Seafloor depth:-162.305229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.30; MB_Bottom_Detect_Filter_Max_Range = 232.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 102.239475 meters # Minimum depth: 160.091873 meters looking forward 100.000000 meters along route # Maximum depth: 161.875268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 110.091873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799077; longitude = -121.813912; captureRadius = 10; duration = 102; initialDepth = 110.091873; finalDepth = 111.605807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.783395 # Actual altitude: 51.783395 # Commanded vehicle depth:110.091873 # Seafloor depth:-161.875268 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.13; 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 = 207.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 71.754268 meters # Minimum depth: 156.035508 meters looking forward 100.000000 meters along route # Maximum depth: 160.988267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 106.035508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799880; longitude = -121.813350; captureRadius = 10; duration = 71; initialDepth = 106.035508; finalDepth = 110.091873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.017265 # Actual altitude: 54.017265 # Commanded vehicle depth:106.035508 # Seafloor depth:-160.052773 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 6.366241 meters # Minimum depth: 154.404148 meters looking forward 100.000000 meters along route # Maximum depth: 160.988267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 104.404148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800384; longitude = -121.812846; captureRadius = 10; duration = 6; initialDepth = 104.404148; finalDepth = 106.035508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.017265 # Actual altitude: 54.017265 # Commanded vehicle depth:104.404148 # Seafloor depth:-154.888657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 101.533135 meters # Minimum depth: 146.921272 meters looking forward 100.000000 meters along route # Maximum depth: 155.441845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 96.921272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800421; longitude = -121.812792; captureRadius = 10; duration = 101; initialDepth = 96.921272; finalDepth = 104.404148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.681258 # Actual altitude: 57.681258 # Commanded vehicle depth:96.921272 # Seafloor depth:-154.602530 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.73; 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 = 230.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 70.011715 meters # Minimum depth: 145.005296 meters looking forward 100.000000 meters along route # Maximum depth: 148.060120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 95.005296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801019; longitude = -121.811930; captureRadius = 10; duration = 70; initialDepth = 95.005296; finalDepth = 96.921272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.681258 # Actual altitude: 57.681258 # Commanded vehicle depth:95.005296 # Seafloor depth:-147.472752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.73; 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 = 230.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 100.331352 meters # Minimum depth: 141.342049 meters looking forward 100.000000 meters along route # Maximum depth: 152.482302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 91.342049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801318; longitude = -121.811239; captureRadius = 10; duration = 100; initialDepth = 91.342049; finalDepth = 95.005296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.644292 # Actual altitude: 53.644292 # Commanded vehicle depth:91.342049 # Seafloor depth:-144.986341 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 214.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 40.486240 meters # Minimum depth: 142.541795 meters looking forward 100.000000 meters along route # Maximum depth: 152.482302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 92.541795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801747; longitude = -121.810249; captureRadius = 10; duration = 40; initialDepth = 92.541795; finalDepth = 91.342049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.574366 # Actual altitude: 58.574366 # Commanded vehicle depth:92.541795 # Seafloor depth:-151.116161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 101.202994 meters # Minimum depth: 143.778021 meters looking forward 100.000000 meters along route # Maximum depth: 150.396082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 93.778021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801902; longitude = -121.809838; captureRadius = 10; duration = 101; initialDepth = 93.778021; finalDepth = 92.541795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.574366 # Actual altitude: 58.574366 # Commanded vehicle depth:93.778021 # Seafloor depth:-150.335104 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 86.679891 meters # Minimum depth: 139.089394 meters looking forward 100.000000 meters along route # Maximum depth: 144.384510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 89.089394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802289; longitude = -121.808811; captureRadius = 10; duration = 86; initialDepth = 89.089394; finalDepth = 93.778021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.557083 # Actual altitude: 56.557083 # Commanded vehicle depth:89.089394 # Seafloor depth:-143.464264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 102.212694 meters # Minimum depth: 128.413816 meters looking forward 100.000000 meters along route # Maximum depth: 138.976088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 78.413816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802503; longitude = -121.807877; captureRadius = 10; duration = 102; initialDepth = 78.413816; finalDepth = 89.089394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.562272 # Actual altitude: 60.562272 # Commanded vehicle depth:78.413816 # Seafloor depth:-138.976088 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 62.395177 meters # Minimum depth: 126.560722 meters looking forward 100.000000 meters along route # Maximum depth: 131.988862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 76.560722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802756; longitude = -121.806775; captureRadius = 10; duration = 62; initialDepth = 76.560722; finalDepth = 78.413816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.562272 # Actual altitude: 60.562272 # Commanded vehicle depth:76.560722 # Seafloor depth:-128.151905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 104.518045 meters # Minimum depth: 124.474191 meters looking forward 100.000000 meters along route # Maximum depth: 129.028192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 74.474191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802840; longitude = -121.806083; captureRadius = 10; duration = 104; initialDepth = 74.474191; finalDepth = 76.560722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.413297 # Actual altitude: 54.413297 # Commanded vehicle depth:74.474191 # Seafloor depth:-128.887488 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 82.376042 meters # Minimum depth: 118.415154 meters looking forward 100.000000 meters along route # Maximum depth: 124.689397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 68.415154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802980; longitude = -121.804925; captureRadius = 10; duration = 82; initialDepth = 68.415154; finalDepth = 74.474191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.219003 # Actual altitude: 56.219003 # Commanded vehicle depth:68.415154 # Seafloor depth:-124.634157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 103.508713 meters # Minimum depth: 112.779582 meters looking forward 100.000000 meters along route # Maximum depth: 118.465210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 62.779582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803054; longitude = -121.804006; captureRadius = 10; duration = 103; initialDepth = 62.779582; finalDepth = 68.415154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.219003 # Actual altitude: 56.219003 # Commanded vehicle depth:62.779582 # Seafloor depth:-118.418659 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 224.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 11.691040 meters # Minimum depth: 112.779582 meters looking forward 100.000000 meters along route # Maximum depth: 117.833161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 62.779582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803148; longitude = -121.802852; captureRadius = 10; duration = 11; initialDepth = 62.779582; finalDepth = 62.779582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.639077 # Actual altitude: 55.639077 # Commanded vehicle depth:62.779582 # Seafloor depth:-113.306929 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 101.689448 meters # Minimum depth: 112.668988 meters looking forward 100.000000 meters along route # Maximum depth: 115.958004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 62.668988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803152; longitude = -121.802721; captureRadius = 10; duration = 101; initialDepth = 62.668988; finalDepth = 62.779582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.527347 # Actual altitude: 50.527347 # Commanded vehicle depth:62.668988 # Seafloor depth:-112.831318 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 7.706259 meters # Minimum depth: 112.969664 meters looking forward 100.000000 meters along route # Maximum depth: 115.958004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 62.969664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803185; longitude = -121.801582; captureRadius = 10; duration = 7; initialDepth = 62.969664; finalDepth = 62.668988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.309417 # Actual altitude: 51.309417 # Commanded vehicle depth:62.969664 # Seafloor depth:-114.279081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 102.509419 meters # Minimum depth: 85.511882 meters looking forward 100.000000 meters along route # Maximum depth: 113.061165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 35.511882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803253; longitude = -121.801600; captureRadius = 10; duration = 102; initialDepth = 35.511882; finalDepth = 62.969664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.549283 # Actual altitude: 77.549283 # Commanded vehicle depth:35.511882 # Seafloor depth:-113.061165 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # Ascend, gps, descend after reaching waypoint 81 at end of line 81 ####################################################### # 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 = 35.000000; 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 81 # Segment length 2.158382 meters # Minimum depth: 85.511882 meters looking forward 100.000000 meters along route # Maximum depth: 109.816198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 35.511882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804156; longitude = -121.801843; captureRadius = 10; duration = 2; initialDepth = 35.511882; finalDepth = 35.511882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.549283 # Actual altitude: 77.549283 # Commanded vehicle depth:35.511882 # Seafloor depth:-90.216351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 100.446804 meters # Minimum depth: 90.330348 meters looking forward 100.000000 meters along route # Maximum depth: 102.132034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 40.330348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804175; longitude = -121.801849; captureRadius = 10; duration = 100; initialDepth = 40.330348; finalDepth = 35.511882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.704469 # Actual altitude: 54.704469 # Commanded vehicle depth:40.330348 # Seafloor depth:-90.330348 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 34.708835 meters # Minimum depth: 92.091653 meters looking forward 100.000000 meters along route # Maximum depth: 104.061536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 42.091653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805053; longitude = -121.802123; captureRadius = 10; duration = 34; initialDepth = 42.091653; finalDepth = 40.330348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.75154 # Actual altitude: 60.75154 # Commanded vehicle depth:42.091653 # Seafloor depth:-102.843193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 243.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 100.548304 meters # Minimum depth: 104.333903 meters looking forward 100.000000 meters along route # Maximum depth: 111.530043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 54.333903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804967; longitude = -121.802497; captureRadius = 10; duration = 100; initialDepth = 54.333903; finalDepth = 42.091653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.75154 # Actual altitude: 60.75154 # Commanded vehicle depth:54.333903 # Seafloor depth:-104.333903 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 243.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 102.465012 meters # Minimum depth: 111.835373 meters looking forward 100.000000 meters along route # Maximum depth: 118.495371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 61.835373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804716; longitude = -121.803580; captureRadius = 10; duration = 102; initialDepth = 61.835373; finalDepth = 54.333903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:61.835373 # Seafloor depth:-111.835373 # 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 79 # Segment length 102.661723 meters # Minimum depth: 115.253116 meters looking forward 100.000000 meters along route # Maximum depth: 118.626949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 65.253116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804287; longitude = -121.804597; captureRadius = 10; duration = 102; initialDepth = 65.253116; finalDepth = 61.835373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.105365 # Actual altitude: 53.105365 # Commanded vehicle depth:65.253116 # Seafloor depth:-118.358481 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.42; 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 = 212.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 99.705912 meters # Minimum depth: 114.041114 meters looking forward 100.000000 meters along route # Maximum depth: 121.624436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 64.041114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803857; longitude = -121.805616; captureRadius = 10; duration = 99; initialDepth = 64.041114; finalDepth = 65.253116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.105365 # Actual altitude: 53.105365 # Commanded vehicle depth:64.041114 # Seafloor depth:-114.867783 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.42; 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 = 212.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 101.595036 meters # Minimum depth: 122.392707 meters looking forward 100.000000 meters along route # Maximum depth: 132.087643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 72.392707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.803413; longitude = -121.806588; captureRadius = 10; duration = 101; initialDepth = 72.392707; finalDepth = 64.041114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.826669 # Actual altitude: 50.826669 # Commanded vehicle depth:72.392707 # Seafloor depth:-122.392707 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 59.317174 meters # Minimum depth: 131.013115 meters looking forward 100.000000 meters along route # Maximum depth: 134.537349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 81.013115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802961; longitude = -121.807578; captureRadius = 10; duration = 59; initialDepth = 81.013115; finalDepth = 72.392707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.809158 # Actual altitude: 50.809158 # Commanded vehicle depth:81.013115 # Seafloor depth:-131.822273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 101.178654 meters # Minimum depth: 133.759784 meters looking forward 100.000000 meters along route # Maximum depth: 137.979804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 83.759784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802802; longitude = -121.808213; captureRadius = 10; duration = 101; initialDepth = 83.759784; finalDepth = 81.013115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.809158 # Actual altitude: 50.809158 # Commanded vehicle depth:83.759784 # Seafloor depth:-134.001547 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 54.627010 meters # Minimum depth: 135.588159 meters looking forward 100.000000 meters along route # Maximum depth: 138.460806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 85.588159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802532; longitude = -121.809296; captureRadius = 10; duration = 54; initialDepth = 85.588159; finalDepth = 83.759784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.730013 # Actual altitude: 52.730013 # Commanded vehicle depth:85.588159 # Seafloor depth:-138.318172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.629181 meters # Minimum depth: 134.368131 meters looking forward 100.000000 meters along route # Maximum depth: 137.509678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 84.368131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802427; longitude = -121.809894; captureRadius = 10; duration = 100; initialDepth = 84.368131; finalDepth = 85.588159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.141547 # Actual altitude: 53.141547 # Commanded vehicle depth:84.368131 # Seafloor depth:-137.509678 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.57; 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 = 212.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 47.518678 meters # Minimum depth: 134.368131 meters looking forward 100.000000 meters along route # Maximum depth: 136.289112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 84.368131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802233; longitude = -121.810996; captureRadius = 10; duration = 47; initialDepth = 84.368131; finalDepth = 84.368131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.141547 # Actual altitude: 53.141547 # Commanded vehicle depth:84.368131 # Seafloor depth:-134.413952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.57; 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 = 212.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 102.305319 meters # Minimum depth: 136.657360 meters looking forward 100.000000 meters along route # Maximum depth: 147.879776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 86.657360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801990; longitude = -121.811435; captureRadius = 10; duration = 102; initialDepth = 86.657360; finalDepth = 84.368131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.045821 # Actual altitude: 50.045821 # Commanded vehicle depth:86.65736 # Seafloor depth:-136.657360 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.18; 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 = 200.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 6.309751 meters # Minimum depth: 137.926418 meters looking forward 100.000000 meters along route # Maximum depth: 147.879776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 87.926418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801467; longitude = -121.812379; captureRadius = 10; duration = 6; initialDepth = 87.926418; finalDepth = 86.657360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.586186 # Actual altitude: 59.586186 # Commanded vehicle depth:87.926418 # Seafloor depth:-147.512604 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 101.521696 meters # Minimum depth: 147.964255 meters looking forward 100.000000 meters along route # Maximum depth: 151.065200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 97.964255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801430; longitude = -121.812433; captureRadius = 10; duration = 101; initialDepth = 97.964255; finalDepth = 87.926418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.586186 # Actual altitude: 59.586186 # Commanded vehicle depth:97.964255 # Seafloor depth:-147.964255 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.83; MB_Bottom_Detect_Filter_Max_Range = 238.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 90.117155 meters # Minimum depth: 150.728564 meters looking forward 100.000000 meters along route # Maximum depth: 155.559722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 100.728564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800832; longitude = -121.813294; captureRadius = 10; duration = 90; initialDepth = 100.728564; finalDepth = 97.964255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.233293 # Actual altitude: 50.233293 # Commanded vehicle depth:100.728564 # Seafloor depth:-150.961857 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.93; 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 = 200.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 22.114775 meters # Minimum depth: 151.992248 meters looking forward 100.000000 meters along route # Maximum depth: 157.885841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 101.992248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800104; longitude = -121.813742; captureRadius = 10; duration = 22; initialDepth = 101.992248; finalDepth = 100.728564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.414208 # Actual altitude: 54.414208 # Commanded vehicle depth:101.992248 # Seafloor depth:-156.406456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 101.769956 meters # Minimum depth: 156.514701 meters looking forward 100.000000 meters along route # Maximum depth: 161.889113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 106.514701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799917; longitude = -121.813829; captureRadius = 10; duration = 101; initialDepth = 106.514701; finalDepth = 101.992248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.414208 # Actual altitude: 54.414208 # Commanded vehicle depth:106.514701 # Seafloor depth:-157.462949 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 94.210332 meters # Minimum depth: 161.704888 meters looking forward 100.000000 meters along route # Maximum depth: 166.027617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 111.704888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799058; longitude = -121.814228; captureRadius = 10; duration = 94; initialDepth = 111.704888; finalDepth = 106.514701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.948248 # Actual altitude: 50.948248 # Commanded vehicle depth:111.704888 # Seafloor depth:-161.846951 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.79; 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 = 203.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 78.311847 meters # Minimum depth: 163.692923 meters looking forward 100.000000 meters along route # Maximum depth: 167.184217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 113.692923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798610; longitude = -121.815125; captureRadius = 10; duration = 78; initialDepth = 113.692923; finalDepth = 111.704888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.003709 # Actual altitude: 52.003709 # Commanded vehicle depth:113.692923 # Seafloor depth:-165.696632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 103.391371 meters # Minimum depth: 167.221464 meters looking forward 100.000000 meters along route # Maximum depth: 177.416372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 117.221464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798626; longitude = -121.816002; captureRadius = 10; duration = 103; initialDepth = 117.221464; finalDepth = 113.692923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.003709 # Actual altitude: 52.003709 # Commanded vehicle depth:117.221464 # Seafloor depth:-167.428571 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 100.637845 meters # Minimum depth: 176.891460 meters looking forward 100.000000 meters along route # Maximum depth: 179.785734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 126.891460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798647; longitude = -121.817161; captureRadius = 10; duration = 100; initialDepth = 126.891460; finalDepth = 117.221464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.207107 # Actual altitude: 50.207107 # Commanded vehicle depth:126.89146 # Seafloor depth:-176.891460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.370628 meters # Minimum depth: 178.732550 meters looking forward 100.000000 meters along route # Maximum depth: 181.814669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 128.732550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798965; longitude = -121.818217; captureRadius = 10; duration = 100; initialDepth = 128.732550; finalDepth = 126.891460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.186815 # Actual altitude: 51.186815 # Commanded vehicle depth:128.73255 # Seafloor depth:-179.919365 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 31.316449 meters # Minimum depth: 178.732550 meters looking forward 100.000000 meters along route # Maximum depth: 182.447239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 128.732550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799282; longitude = -121.819271; captureRadius = 10; duration = 31; initialDepth = 128.732550; finalDepth = 128.732550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.10256 # Actual altitude: 53.10256 # Commanded vehicle depth:128.73255 # Seafloor depth:-181.835110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.41; 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 = 212.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 101.120940 meters # Minimum depth: 182.842896 meters looking forward 100.000000 meters along route # Maximum depth: 187.624831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 132.842896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799401; longitude = -121.819589; captureRadius = 10; duration = 101; initialDepth = 132.842896; finalDepth = 128.732550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.10256 # Actual altitude: 53.10256 # Commanded vehicle depth:132.842896 # Seafloor depth:-182.842896 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.41; 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 = 212.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 96.802584 meters # Minimum depth: 187.624831 meters looking forward 100.000000 meters along route # Maximum depth: 190.585588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 137.624831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799787; longitude = -121.820616; captureRadius = 10; duration = 96; initialDepth = 137.624831; finalDepth = 132.842896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.085546 # Actual altitude: 50.085546 # Commanded vehicle depth:137.624831 # Seafloor depth:-187.710377 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.34; 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 = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 68.733519 meters # Minimum depth: 189.337368 meters looking forward 100.000000 meters along route # Maximum depth: 191.303709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 139.337368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799824; longitude = -121.821700; captureRadius = 10; duration = 68; initialDepth = 139.337368; finalDepth = 137.624831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.177288 # Actual altitude: 51.177288 # Commanded vehicle depth:139.337368 # Seafloor depth:-190.514656 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 88.139933 meters # Minimum depth: 191.200114 meters looking forward 100.000000 meters along route # Maximum depth: 196.927167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 141.200114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799320; longitude = -121.822148; captureRadius = 10; duration = 88; initialDepth = 141.200114; finalDepth = 139.337368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.177288 # Actual altitude: 51.177288 # Commanded vehicle depth:141.200114 # Seafloor depth:-191.355850 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 95.529815 meters # Minimum depth: 196.927167 meters looking forward 100.000000 meters along route # Maximum depth: 200.854194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 146.927167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798554; longitude = -121.822410; captureRadius = 10; duration = 95; initialDepth = 146.927167; finalDepth = 141.200114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.436454 # Actual altitude: 50.436454 # Commanded vehicle depth:146.927167 # Seafloor depth:-197.363621 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.75; 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 = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 14.542344 meters # Minimum depth: 198.649318 meters looking forward 100.000000 meters along route # Maximum depth: 201.077611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 148.649318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797695; longitude = -121.822484; captureRadius = 10; duration = 14; initialDepth = 148.649318; finalDepth = 146.927167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.131932 # Actual altitude: 52.131932 # Commanded vehicle depth:148.649318 # Seafloor depth:-200.781250 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 103.932434 meters # Minimum depth: 200.906394 meters looking forward 100.000000 meters along route # Maximum depth: 202.940884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 150.906394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797564; longitude = -121.822498; captureRadius = 10; duration = 103; initialDepth = 150.906394; finalDepth = 148.649318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.131932 # Actual altitude: 52.131932 # Commanded vehicle depth:150.906394 # Seafloor depth:-200.906394 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 14.546722 meters # Minimum depth: 201.458517 meters looking forward 100.000000 meters along route # Maximum depth: 203.152990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 151.458517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796631; longitude = -121.822597; captureRadius = 10; duration = 14; initialDepth = 151.458517; finalDepth = 150.906394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.584951 # Actual altitude: 51.584951 # Commanded vehicle depth:151.458517 # Seafloor depth:-203.043468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 103.714793 meters # Minimum depth: 203.144314 meters looking forward 100.000000 meters along route # Maximum depth: 205.950960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 153.144314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796500; longitude = -121.822604; captureRadius = 10; duration = 103; initialDepth = 153.144314; finalDepth = 151.458517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.584951 # Actual altitude: 51.584951 # Commanded vehicle depth:153.144314 # Seafloor depth:-203.144314 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 12.245571 meters # Minimum depth: 203.645589 meters looking forward 100.000000 meters along route # Maximum depth: 206.339917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 153.645589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795566; longitude = -121.822653; captureRadius = 10; duration = 12; initialDepth = 153.645589; finalDepth = 153.144314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.527324 # Actual altitude: 52.527324 # Commanded vehicle depth:153.645589 # Seafloor depth:-206.172913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.586647 meters # Minimum depth: 206.310919 meters looking forward 100.000000 meters along route # Maximum depth: 209.680608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 156.310919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795457; longitude = -121.822671; captureRadius = 10; duration = 100; initialDepth = 156.310919; finalDepth = 153.645589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.527324 # Actual altitude: 52.527324 # Commanded vehicle depth:156.310919 # Seafloor depth:-206.312844 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 53.626476 meters # Minimum depth: 207.773578 meters looking forward 100.000000 meters along route # Maximum depth: 210.997916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 157.773578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794558; longitude = -121.822821; captureRadius = 10; duration = 53; initialDepth = 157.773578; finalDepth = 156.310919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.731808 # Actual altitude: 51.731808 # Commanded vehicle depth:157.773578 # Seafloor depth:-209.505386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.855319 meters # Minimum depth: 210.856711 meters looking forward 100.000000 meters along route # Maximum depth: 213.903377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 160.856711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794091; longitude = -121.822977; captureRadius = 10; duration = 100; initialDepth = 160.856711; finalDepth = 157.773578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.731808 # Actual altitude: 51.731808 # Commanded vehicle depth:160.856711 # Seafloor depth:-210.856711 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 20.861706 meters # Minimum depth: 212.096939 meters looking forward 100.000000 meters along route # Maximum depth: 214.468292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 162.096939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793213; longitude = -121.823269; captureRadius = 10; duration = 20; initialDepth = 162.096939; finalDepth = 160.856711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.936577 # Actual altitude: 51.936577 # Commanded vehicle depth:162.096939 # Seafloor depth:-214.033516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 101.640178 meters # Minimum depth: 211.843008 meters looking forward 100.000000 meters along route # Maximum depth: 214.633029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 161.843008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793083; longitude = -121.823438; captureRadius = 10; duration = 101; initialDepth = 161.843008; finalDepth = 162.096939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.936577 # Actual altitude: 51.936577 # Commanded vehicle depth:161.843008 # Seafloor depth:-213.557945 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.77; MB_Bottom_Detect_Filter_Max_Range = 207.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 97.423449 meters # Minimum depth: 214.633029 meters looking forward 100.000000 meters along route # Maximum depth: 222.566910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 164.633029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792448; longitude = -121.824259; captureRadius = 10; duration = 97; initialDepth = 164.633029; finalDepth = 161.843008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.714937 # Actual altitude: 51.714937 # Commanded vehicle depth:164.633029 # Seafloor depth:-215.646164 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 16.921755 meters # Minimum depth: 218.384221 meters looking forward 100.000000 meters along route # Maximum depth: 223.245797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 168.384221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791888; longitude = -121.825100; captureRadius = 10; duration = 16; initialDepth = 168.384221; finalDepth = 164.633029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.38808 # Actual altitude: 54.38808 # Commanded vehicle depth:168.384221 # Seafloor depth:-222.772301 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 103.862236 meters # Minimum depth: 223.097435 meters looking forward 100.000000 meters along route # Maximum depth: 226.798354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 173.097435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791794; longitude = -121.825249; captureRadius = 10; duration = 103; initialDepth = 173.097435; finalDepth = 168.384221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.38808 # Actual altitude: 54.38808 # Commanded vehicle depth:173.097435 # Seafloor depth:-223.097435 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 6.550974 meters # Minimum depth: 223.729846 meters looking forward 100.000000 meters along route # Maximum depth: 226.798354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 173.729846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791215; longitude = -121.826164; captureRadius = 10; duration = 6; initialDepth = 173.729846; finalDepth = 173.097435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.945046 # Actual altitude: 52.945046 # Commanded vehicle depth:173.729846 # Seafloor depth:-226.674892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.78; 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 = 211.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 102.544992 meters # Minimum depth: 226.879049 meters looking forward 100.000000 meters along route # Maximum depth: 228.513395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 176.879049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791178; longitude = -121.826221; captureRadius = 10; duration = 102; initialDepth = 176.879049; finalDepth = 173.729846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.945046 # Actual altitude: 52.945046 # Commanded vehicle depth:176.879049 # Seafloor depth:-226.879049 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.78; 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 = 211.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 15.113026 meters # Minimum depth: 227.756311 meters looking forward 100.000000 meters along route # Maximum depth: 229.016115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.756311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790599; longitude = -121.827117; captureRadius = 10; duration = 15; initialDepth = 177.756311; finalDepth = 176.879049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.820021 # Actual altitude: 50.820021 # Commanded vehicle depth:177.756311 # Seafloor depth:-228.576332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 103.870215 meters # Minimum depth: 229.203061 meters looking forward 100.000000 meters along route # Maximum depth: 231.705488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 179.203061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790535; longitude = -121.827267; captureRadius = 10; duration = 103; initialDepth = 179.203061; finalDepth = 177.756311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.820021 # Actual altitude: 50.820021 # Commanded vehicle depth:179.203061 # Seafloor depth:-229.203061 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 39.887502 meters # Minimum depth: 230.146399 meters looking forward 100.000000 meters along route # Maximum depth: 231.705488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 180.146399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790095; longitude = -121.828294; captureRadius = 10; duration = 39; initialDepth = 180.146399; finalDepth = 179.203061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.09268 # Actual altitude: 51.09268 # Commanded vehicle depth:180.146399 # Seafloor depth:-231.239079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.37; 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 = 204.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 102.376788 meters # Minimum depth: 227.642042 meters looking forward 100.000000 meters along route # Maximum depth: 232.101382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.642042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789995; longitude = -121.828724; captureRadius = 10; duration = 102; initialDepth = 177.642042; finalDepth = 180.146399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.759677 # Actual altitude: 52.759677 # Commanded vehicle depth:177.642042 # Seafloor depth:-230.401719 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 6.647111 meters # Minimum depth: 227.500519 meters looking forward 100.000000 meters along route # Maximum depth: 232.101382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.500519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789740; longitude = -121.829826; captureRadius = 10; duration = 6; initialDepth = 177.500519; finalDepth = 177.642042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.759677 # Actual altitude: 52.759677 # Commanded vehicle depth:177.500519 # Seafloor depth:-227.714008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 103.551718 meters # Minimum depth: 227.725724 meters looking forward 100.000000 meters along route # Maximum depth: 233.809677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.725724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789743; longitude = -121.829900; captureRadius = 10; duration = 103; initialDepth = 177.725724; finalDepth = 177.500519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.213489 # Actual altitude: 50.213489 # Commanded vehicle depth:177.725724 # Seafloor depth:-227.725724 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.85; 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 = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 19.841825 meters # Minimum depth: 227.886628 meters looking forward 100.000000 meters along route # Maximum depth: 234.042641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.886628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789796; longitude = -121.831059; captureRadius = 10; duration = 19; initialDepth = 177.886628; finalDepth = 177.725724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.729667 # Actual altitude: 55.729667 # Commanded vehicle depth:177.886628 # Seafloor depth:-233.616295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.92; 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 = 222.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 105.387214 meters # Minimum depth: 233.246834 meters looking forward 100.000000 meters along route # Maximum depth: 234.860290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 183.246834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789894; longitude = -121.831245; captureRadius = 10; duration = 105; initialDepth = 183.246834; finalDepth = 177.886628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.729667 # Actual altitude: 55.729667 # Commanded vehicle depth:183.246834 # Seafloor depth:-234.093093 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.92; 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 = 222.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 20.545060 meters # Minimum depth: 233.246834 meters looking forward 100.000000 meters along route # Maximum depth: 236.177812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 183.246834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790412; longitude = -121.832235; captureRadius = 10; duration = 20; initialDepth = 183.246834; finalDepth = 183.246834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.53231 # Actual altitude: 51.53231 # Commanded vehicle depth:183.246834 # Seafloor depth:-234.779144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.419739 meters # Minimum depth: 236.320864 meters looking forward 100.000000 meters along route # Maximum depth: 240.218997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 186.320864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790520; longitude = -121.832422; captureRadius = 10; duration = 100; initialDepth = 186.320864; finalDepth = 183.246834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.53231 # Actual altitude: 51.53231 # Commanded vehicle depth:186.320864 # Seafloor depth:-236.359691 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 97.494661 meters # Minimum depth: 240.218997 meters looking forward 100.000000 meters along route # Maximum depth: 249.551013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 190.218997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791047; longitude = -121.833337; captureRadius = 10; duration = 97; initialDepth = 190.218997; finalDepth = 186.320864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.454328 # Actual altitude: 50.454328 # Commanded vehicle depth:190.218997 # Seafloor depth:-240.673325 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.82; 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 = 201.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 29.141053 meters # Minimum depth: 244.605569 meters looking forward 100.000000 meters along route # Maximum depth: 251.793199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 194.605569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791608; longitude = -121.834178; captureRadius = 10; duration = 29; initialDepth = 194.605569; finalDepth = 190.218997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.19757 # Actual altitude: 55.19757 # Commanded vehicle depth:194.605569 # Seafloor depth:-249.803139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 104.526850 meters # Minimum depth: 251.993909 meters looking forward 100.000000 meters along route # Maximum depth: 256.138795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 201.993909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791669; longitude = -121.834496; captureRadius = 10; duration = 104; initialDepth = 201.993909; finalDepth = 194.605569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.19757 # Actual altitude: 55.19757 # Commanded vehicle depth:201.993909 # Seafloor depth:-251.993909 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.08; MB_Bottom_Detect_Filter_Max_Range = 220.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 63.660048 meters # Minimum depth: 255.394796 meters looking forward 100.000000 meters along route # Maximum depth: 259.007266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 205.394796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791888; longitude = -121.835635; captureRadius = 10; duration = 63; initialDepth = 205.394796; finalDepth = 201.993909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.729372 # Actual altitude: 50.729372 # Commanded vehicle depth:205.394796 # Seafloor depth:-256.124168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 103.838803 meters # Minimum depth: 259.549608 meters looking forward 100.000000 meters along route # Maximum depth: 263.962640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 209.549608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791945; longitude = -121.836345; captureRadius = 10; duration = 103; initialDepth = 209.549608; finalDepth = 205.394796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.729372 # Actual altitude: 50.729372 # Commanded vehicle depth:209.549608 # Seafloor depth:-259.549608 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 12.000228 meters # Minimum depth: 260.342410 meters looking forward 100.000000 meters along route # Maximum depth: 263.962640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 210.342410 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792037; longitude = -121.837503; captureRadius = 10; duration = 12; initialDepth = 210.342410; finalDepth = 209.549608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2267890000001 # Actual altitude: 53.2267890000001 # Commanded vehicle depth:210.34241 # Seafloor depth:-263.569199 # 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 47 # Segment length 102.769861 meters # Minimum depth: 263.366976 meters looking forward 100.000000 meters along route # Maximum depth: 264.595298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 213.366976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792062; longitude = -121.837634; captureRadius = 10; duration = 102; initialDepth = 213.366976; finalDepth = 210.342410; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2267890000001 # Actual altitude: 53.2267890000001 # Commanded vehicle depth:213.366976 # Seafloor depth:-263.366976 # 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 47 # Segment length 101.076268 meters # Minimum depth: 264.140278 meters looking forward 100.000000 meters along route # Maximum depth: 269.070009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 214.140278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792275; longitude = -121.838755; captureRadius = 10; duration = 101; initialDepth = 214.140278; finalDepth = 213.366976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:214.140278 # Seafloor depth:-264.140278 # 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 46 # Segment length 6.971983 meters # Minimum depth: 264.624514 meters looking forward 100.000000 meters along route # Maximum depth: 269.773915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 214.624514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.839857; captureRadius = 10; duration = 6; initialDepth = 214.624514; finalDepth = 214.140278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.702009 # Actual altitude: 54.702009 # Commanded vehicle depth:214.624514 # Seafloor depth:-269.326523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 104.878437 meters # Minimum depth: 269.671742 meters looking forward 100.000000 meters along route # Maximum depth: 273.633186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 219.671742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792504; longitude = -121.839932; captureRadius = 10; duration = 104; initialDepth = 219.671742; finalDepth = 214.624514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.702009 # Actual altitude: 54.702009 # Commanded vehicle depth:219.671742 # Seafloor depth:-269.748192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.88; MB_Bottom_Detect_Filter_Max_Range = 218.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 101.406367 meters # Minimum depth: 274.313354 meters looking forward 100.000000 meters along route # Maximum depth: 279.137491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 224.313354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792789; longitude = -121.841052; captureRadius = 10; duration = 101; initialDepth = 224.313354; finalDepth = 219.671742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.07645 # Actual altitude: 50.07645 # Commanded vehicle depth:224.313354 # Seafloor depth:-274.313354 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 14.107768 meters # Minimum depth: 274.936971 meters looking forward 100.000000 meters along route # Maximum depth: 279.170830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 224.936971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793064; longitude = -121.842136; captureRadius = 10; duration = 14; initialDepth = 224.936971; finalDepth = 224.313354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.024852 # Actual altitude: 54.024852 # Commanded vehicle depth:224.936971 # Seafloor depth:-278.961823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 104.728381 meters # Minimum depth: 279.163603 meters looking forward 100.000000 meters along route # Maximum depth: 282.256998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 229.163603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793106; longitude = -121.842285; captureRadius = 10; duration = 104; initialDepth = 229.163603; finalDepth = 224.936971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.024852 # Actual altitude: 54.024852 # Commanded vehicle depth:229.163603 # Seafloor depth:-279.163603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.183433 meters # Minimum depth: 282.961268 meters looking forward 100.000000 meters along route # Maximum depth: 286.493745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 232.961268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793419; longitude = -121.843393; captureRadius = 10; duration = 100; initialDepth = 232.961268; finalDepth = 229.163603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:232.961268 # Seafloor depth:-282.961268 # 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 44 # Segment length 80.370164 meters # Minimum depth: 286.155956 meters looking forward 100.000000 meters along route # Maximum depth: 289.261548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 236.155956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793718; longitude = -121.844452; captureRadius = 10; duration = 80; initialDepth = 236.155956; finalDepth = 232.961268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.507405 # Actual altitude: 50.507405 # Commanded vehicle depth:236.155956 # Seafloor depth:-286.663361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 102.822641 meters # Minimum depth: 289.256578 meters looking forward 100.000000 meters along route # Maximum depth: 292.794401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 239.256578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794046; longitude = -121.845255; captureRadius = 10; duration = 102; initialDepth = 239.256578; finalDepth = 236.155956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.507405 # Actual altitude: 50.507405 # Commanded vehicle depth:239.256578 # Seafloor depth:-289.256578 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 80.447000 meters # Minimum depth: 292.403788 meters looking forward 100.000000 meters along route # Maximum depth: 295.137572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 242.403788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794465; longitude = -121.846283; captureRadius = 10; duration = 80; initialDepth = 242.403788; finalDepth = 239.256578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.589605 # Actual altitude: 50.589605 # Commanded vehicle depth:242.403788 # Seafloor depth:-292.993393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.36; 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 = 202.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.595830 meters # Minimum depth: 295.143078 meters looking forward 100.000000 meters along route # Maximum depth: 299.533336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 245.143078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794764; longitude = -121.847105; captureRadius = 10; duration = 100; initialDepth = 245.143078; finalDepth = 242.403788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.589605 # Actual altitude: 50.589605 # Commanded vehicle depth:245.143078 # Seafloor depth:-295.143078 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.36; 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 = 202.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 46.664274 meters # Minimum depth: 298.124030 meters looking forward 100.000000 meters along route # Maximum depth: 302.230610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 248.124030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795137; longitude = -121.848132; captureRadius = 10; duration = 46; initialDepth = 248.124030; finalDepth = 245.143078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.675607 # Actual altitude: 51.675607 # Commanded vehicle depth:248.12403 # Seafloor depth:-299.799637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 104.084241 meters # Minimum depth: 302.543304 meters looking forward 100.000000 meters along route # Maximum depth: 306.984816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 252.543304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795293; longitude = -121.848618; captureRadius = 10; duration = 104; initialDepth = 252.543304; finalDepth = 248.124030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.675607 # Actual altitude: 51.675607 # Commanded vehicle depth:252.543304 # Seafloor depth:-302.543304 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 45.652916 meters # Minimum depth: 303.965976 meters looking forward 100.000000 meters along route # Maximum depth: 308.085517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 253.965976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795641; longitude = -121.849701; captureRadius = 10; duration = 45; initialDepth = 253.965976; finalDepth = 252.543304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.990681 # Actual altitude: 52.990681 # Commanded vehicle depth:253.965976 # Seafloor depth:-306.956657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.96; 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 = 211.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 103.173482 meters # Minimum depth: 306.989015 meters looking forward 100.000000 meters along route # Maximum depth: 308.306679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 256.989015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795864; longitude = -121.850131; captureRadius = 10; duration = 103; initialDepth = 256.989015; finalDepth = 253.965976; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.990681 # Actual altitude: 52.990681 # Commanded vehicle depth:256.989015 # Seafloor depth:-307.806692 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.96; 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 = 211.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 71.445600 meters # Minimum depth: 305.823208 meters looking forward 100.000000 meters along route # Maximum depth: 308.237366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 255.823208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796369; longitude = -121.851102; captureRadius = 10; duration = 71; initialDepth = 255.823208; finalDepth = 256.989015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.414158 # Actual altitude: 52.414158 # Commanded vehicle depth:255.823208 # Seafloor depth:-308.237366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 105.903621 meters # Minimum depth: 305.667469 meters looking forward 100.000000 meters along route # Maximum depth: 307.871096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 255.667469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796843; longitude = -121.851644; captureRadius = 10; duration = 105; initialDepth = 255.667469; finalDepth = 255.823208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.414158 # Actual altitude: 52.414158 # Commanded vehicle depth:255.667469 # Seafloor depth:-305.667469 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 56.235438 meters # Minimum depth: 304.852233 meters looking forward 100.000000 meters along route # Maximum depth: 308.936138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 254.852233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797546; longitude = -121.852447; captureRadius = 10; duration = 56; initialDepth = 254.852233; finalDepth = 255.667469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.528191 # Actual altitude: 51.528191 # Commanded vehicle depth:254.852233 # Seafloor depth:-306.380424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 105.124013 meters # Minimum depth: 308.984378 meters looking forward 100.000000 meters along route # Maximum depth: 315.218703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 258.984378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797917; longitude = -121.852877; captureRadius = 10; duration = 105; initialDepth = 258.984378; finalDepth = 254.852233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.528191 # Actual altitude: 51.528191 # Commanded vehicle depth:258.984378 # Seafloor depth:-308.984378 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 61.781794 meters # Minimum depth: 313.241919 meters looking forward 100.000000 meters along route # Maximum depth: 322.049149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 263.241919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798610; longitude = -121.853680; captureRadius = 10; duration = 61; initialDepth = 263.241919; finalDepth = 258.984378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.520464 # Actual altitude: 52.520464 # Commanded vehicle depth:263.241919 # Seafloor depth:-315.762383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 102.024370 meters # Minimum depth: 319.801556 meters looking forward 100.000000 meters along route # Maximum depth: 327.711768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 269.801556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799047; longitude = -121.854110; captureRadius = 10; duration = 102; initialDepth = 269.801556; finalDepth = 263.241919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.520464 # Actual altitude: 52.520464 # Commanded vehicle depth:269.801556 # Seafloor depth:-319.801556 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 78.835923 meters # Minimum depth: 327.219889 meters looking forward 100.000000 meters along route # Maximum depth: 331.125759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 277.219889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799768; longitude = -121.854819; captureRadius = 10; duration = 78; initialDepth = 277.219889; finalDepth = 269.801556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.16757 # Actual altitude: 50.16757 # Commanded vehicle depth:277.219889 # Seafloor depth:-327.387459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; 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 = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 105.900941 meters # Minimum depth: 330.674744 meters looking forward 100.000000 meters along route # Maximum depth: 334.780157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 280.674744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800365; longitude = -121.855297; captureRadius = 10; duration = 105; initialDepth = 280.674744; finalDepth = 277.219889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.16757 # Actual altitude: 50.16757 # Commanded vehicle depth:280.674744 # Seafloor depth:-330.674744 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.67; 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 = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 55.258009 meters # Minimum depth: 333.144879 meters looking forward 100.000000 meters along route # Maximum depth: 336.186321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 283.144879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801168; longitude = -121.855940; captureRadius = 10; duration = 55; initialDepth = 283.144879; finalDepth = 280.674744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.605182 # Actual altitude: 51.605182 # Commanded vehicle depth:283.144879 # Seafloor depth:-334.750061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 103.225640 meters # Minimum depth: 336.266832 meters looking forward 100.000000 meters along route # Maximum depth: 337.693649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 286.266832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801598; longitude = -121.856253; captureRadius = 10; duration = 103; initialDepth = 286.266832; finalDepth = 283.144879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.605182 # Actual altitude: 51.605182 # Commanded vehicle depth:286.266832 # Seafloor depth:-336.266832 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 39.686471 meters # Minimum depth: 336.894890 meters looking forward 100.000000 meters along route # Maximum depth: 339.674856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 286.894890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802401; longitude = -121.856837; captureRadius = 10; duration = 39; initialDepth = 286.894890; finalDepth = 286.266832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:286.89489 # Seafloor depth:-336.894890 # 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 35 # Segment length 104.503892 meters # Minimum depth: 333.403636 meters looking forward 100.000000 meters along route # Maximum depth: 340.080379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 283.403636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802185; longitude = -121.857192; captureRadius = 10; duration = 104; initialDepth = 283.403636; finalDepth = 286.894890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.658741 # Actual altitude: 56.658741 # Commanded vehicle depth:283.403636 # Seafloor depth:-340.062377 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 69.342793 meters # Minimum depth: 330.936574 meters looking forward 100.000000 meters along route # Maximum depth: 335.725506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 280.936574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801617; longitude = -121.858126; captureRadius = 10; duration = 69; initialDepth = 280.936574; finalDepth = 283.403636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.658741 # Actual altitude: 56.658741 # Commanded vehicle depth:280.936574 # Seafloor depth:-333.085197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.66; MB_Bottom_Detect_Filter_Max_Range = 226.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 100.386775 meters # Minimum depth: 330.244646 meters looking forward 100.000000 meters along route # Maximum depth: 332.627546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 280.244646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801169; longitude = -121.857584; captureRadius = 10; duration = 100; initialDepth = 280.244646; finalDepth = 280.936574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.256929 # Actual altitude: 52.256929 # Commanded vehicle depth:280.244646 # Seafloor depth:-332.501575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 102.017959 meters # Minimum depth: 329.496949 meters looking forward 100.000000 meters along route # Maximum depth: 333.089144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 279.496949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800520; longitude = -121.856800; captureRadius = 10; duration = 102; initialDepth = 279.496949; finalDepth = 280.244646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.256929 # Actual altitude: 52.256929 # Commanded vehicle depth:279.496949 # Seafloor depth:-330.233885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 209.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 101.109442 meters # Minimum depth: 327.408329 meters looking forward 100.000000 meters along route # Maximum depth: 331.436655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 277.408329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799861; longitude = -121.856002; captureRadius = 10; duration = 101; initialDepth = 277.408329; finalDepth = 279.496949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.693154 # Actual altitude: 52.693154 # Commanded vehicle depth:277.408329 # Seafloor depth:-330.101483 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.77; 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 = 210.77; 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 33 # Segment length 26.591849 meters # Minimum depth: 327.408329 meters looking forward 100.000000 meters along route # Maximum depth: 330.630488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 277.408329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799208; longitude = -121.855212; captureRadius = 10; duration = 26; initialDepth = 277.408329; finalDepth = 277.408329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.693154 # Actual altitude: 52.693154 # Commanded vehicle depth:277.408329 # Seafloor depth:-329.255203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.77; 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 = 210.77; 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 during line 33 # Segment length 102.874726 meters # Minimum depth: 324.676348 meters looking forward 100.000000 meters along route # Maximum depth: 328.617183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 274.676348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799001; longitude = -121.855062; captureRadius = 10; duration = 102; initialDepth = 274.676348; finalDepth = 277.408329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.258964 # Actual altitude: 53.258964 # Commanded vehicle depth:274.676348 # Seafloor depth:-327.935312 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.04; 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 = 213.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 2.564808 meters # Minimum depth: 324.366722 meters looking forward 100.000000 meters along route # Maximum depth: 328.617183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 274.366722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798199; longitude = -121.854483; captureRadius = 10; duration = 2; initialDepth = 274.366722; finalDepth = 274.676348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.258964 # Actual altitude: 53.258964 # Commanded vehicle depth:274.366722 # Seafloor depth:-324.366722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.04; 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 = 213.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 101.743325 meters # Minimum depth: 322.053568 meters looking forward 100.000000 meters along route # Maximum depth: 324.247703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 272.053568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798181; longitude = -121.854466; captureRadius = 10; duration = 101; initialDepth = 272.053568; finalDepth = 274.366722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.194135 # Actual altitude: 52.194135 # Commanded vehicle depth:272.053568 # Seafloor depth:-324.247703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 104.264401 meters # Minimum depth: 318.065014 meters looking forward 100.000000 meters along route # Maximum depth: 322.184889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 268.065014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797452; longitude = -121.853773; captureRadius = 10; duration = 104; initialDepth = 268.065014; finalDepth = 272.053568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.119875 # Actual altitude: 54.119875 # Commanded vehicle depth:268.065014 # Seafloor depth:-322.184889 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 55.365119 meters # Minimum depth: 317.205223 meters looking forward 100.000000 meters along route # Maximum depth: 319.109717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 267.205223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796705; longitude = -121.853064; captureRadius = 10; duration = 55; initialDepth = 267.205223; finalDepth = 268.065014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.119875 # Actual altitude: 54.119875 # Commanded vehicle depth:267.205223 # Seafloor depth:-318.623039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.421988 meters # Minimum depth: 313.334945 meters looking forward 100.000000 meters along route # Maximum depth: 317.435342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 263.334945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796388; longitude = -121.852585; captureRadius = 10; duration = 104; initialDepth = 263.334945; finalDepth = 267.205223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.887377 # Actual altitude: 53.887377 # Commanded vehicle depth:263.334945 # Seafloor depth:-317.222322 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 71.376066 meters # Minimum depth: 311.206189 meters looking forward 100.000000 meters along route # Maximum depth: 314.773572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 261.206189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795790; longitude = -121.851681; captureRadius = 10; duration = 71; initialDepth = 261.206189; finalDepth = 263.334945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.887377 # Actual altitude: 53.887377 # Commanded vehicle depth:261.206189 # Seafloor depth:-313.371902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 103.925937 meters # Minimum depth: 307.895934 meters looking forward 100.000000 meters along route # Maximum depth: 311.773943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 257.895934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795380; longitude = -121.851065; captureRadius = 10; duration = 103; initialDepth = 257.895934; finalDepth = 261.206189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.342484 # Actual altitude: 53.342484 # Commanded vehicle depth:257.895934 # Seafloor depth:-311.238418 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.37; 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 = 213.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 81.641513 meters # Minimum depth: 306.315252 meters looking forward 100.000000 meters along route # Maximum depth: 308.677265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 256.315252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794782; longitude = -121.850168; captureRadius = 10; duration = 81; initialDepth = 256.315252; finalDepth = 257.895934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.342484 # Actual altitude: 53.342484 # Commanded vehicle depth:256.315252 # Seafloor depth:-308.202293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.37; 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 = 213.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 102.047723 meters # Minimum depth: 301.833652 meters looking forward 100.000000 meters along route # Maximum depth: 306.180971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 251.833652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794458; longitude = -121.849346; captureRadius = 10; duration = 102; initialDepth = 251.833652; finalDepth = 256.315252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.347319 # Actual altitude: 54.347319 # Commanded vehicle depth:251.833652 # Seafloor depth:-306.180971 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.39; 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 = 217.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 20.497161 meters # Minimum depth: 301.725898 meters looking forward 100.000000 meters along route # Maximum depth: 304.421285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 251.725898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794054; longitude = -121.848319; captureRadius = 10; duration = 20; initialDepth = 251.725898; finalDepth = 251.833652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.347319 # Actual altitude: 54.347319 # Commanded vehicle depth:251.725898 # Seafloor depth:-301.893143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.39; 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 = 217.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 100.527045 meters # Minimum depth: 298.683336 meters looking forward 100.000000 meters along route # Maximum depth: 301.702029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 248.683336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793972; longitude = -121.848113; captureRadius = 10; duration = 100; initialDepth = 248.683336; finalDepth = 251.725898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.018693 # Actual altitude: 53.018693 # Commanded vehicle depth:248.683336 # Seafloor depth:-301.702029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.07; 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 = 212.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.410088 meters # Minimum depth: 292.734869 meters looking forward 100.000000 meters along route # Maximum depth: 298.042068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 242.734869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793568; longitude = -121.847105; captureRadius = 10; duration = 102; initialDepth = 242.734869; finalDepth = 248.683336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.307199 # Actual altitude: 55.307199 # Commanded vehicle depth:242.734869 # Seafloor depth:-298.042068 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 221.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 70.263638 meters # Minimum depth: 290.815521 meters looking forward 100.000000 meters along route # Maximum depth: 294.546481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 240.815521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793157; longitude = -121.846077; captureRadius = 10; duration = 70; initialDepth = 240.815521; finalDepth = 242.734869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.307199 # Actual altitude: 55.307199 # Commanded vehicle depth:240.815521 # Seafloor depth:-292.761055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 221.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.725447 meters # Minimum depth: 286.909750 meters looking forward 100.000000 meters along route # Maximum depth: 290.699224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 236.909750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792882; longitude = -121.845367; captureRadius = 10; duration = 101; initialDepth = 236.909750; finalDepth = 240.815521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.789474 # Actual altitude: 53.789474 # Commanded vehicle depth:236.90975 # Seafloor depth:-290.699224 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 39.551594 meters # Minimum depth: 286.814156 meters looking forward 100.000000 meters along route # Maximum depth: 289.183932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 236.814156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792485; longitude = -121.844340; captureRadius = 10; duration = 39; initialDepth = 236.814156; finalDepth = 236.909750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.789474 # Actual altitude: 53.789474 # Commanded vehicle depth:236.814156 # Seafloor depth:-286.907829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 103.172306 meters # Minimum depth: 284.016888 meters looking forward 100.000000 meters along route # Maximum depth: 286.546628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 234.016888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792397; longitude = -121.843910; captureRadius = 10; duration = 103; initialDepth = 234.016888; finalDepth = 236.814156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.52974 # Actual altitude: 52.52974 # Commanded vehicle depth:234.016888 # Seafloor depth:-286.546628 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 210.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 101.491936 meters # Minimum depth: 280.383730 meters looking forward 100.000000 meters along route # Maximum depth: 284.104972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 230.383730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792169; longitude = -121.842790; captureRadius = 10; duration = 101; initialDepth = 230.383730; finalDepth = 234.016888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.721242 # Actual altitude: 53.721242 # Commanded vehicle depth:230.38373 # Seafloor depth:-284.104972 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.88; 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 = 214.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 6.872778 meters # Minimum depth: 279.944009 meters looking forward 100.000000 meters along route # Maximum depth: 283.882213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 229.944009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791944; longitude = -121.841687; captureRadius = 10; duration = 6; initialDepth = 229.944009; finalDepth = 230.383730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.721242 # Actual altitude: 53.721242 # Commanded vehicle depth:229.944009 # Seafloor depth:-280.138184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.88; 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 = 214.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 103.677630 meters # Minimum depth: 275.584645 meters looking forward 100.000000 meters along route # Maximum depth: 279.677892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 225.584645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791928; longitude = -121.841613; captureRadius = 10; duration = 103; initialDepth = 225.584645; finalDepth = 229.944009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.093247 # Actual altitude: 54.093247 # Commanded vehicle depth:225.584645 # Seafloor depth:-279.677892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.930411 meters # Minimum depth: 270.412883 meters looking forward 100.000000 meters along route # Maximum depth: 275.544472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 220.412883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791681; longitude = -121.840492; captureRadius = 10; duration = 101; initialDepth = 220.412883; finalDepth = 225.584645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.131589 # Actual altitude: 55.131589 # Commanded vehicle depth:220.412883 # Seafloor depth:-275.544472 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 220.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 93.221497 meters # Minimum depth: 264.317744 meters looking forward 100.000000 meters along route # Maximum depth: 270.412883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 214.317744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791439; longitude = -121.839390; captureRadius = 10; duration = 93; initialDepth = 214.317744; finalDepth = 220.412883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.925504 # Actual altitude: 55.925504 # Commanded vehicle depth:214.317744 # Seafloor depth:-270.243248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 104.620130 meters # Minimum depth: 255.692862 meters looking forward 100.000000 meters along route # Maximum depth: 263.463512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 205.692862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791034; longitude = -121.838474; captureRadius = 10; duration = 104; initialDepth = 205.692862; finalDepth = 214.317744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.77065 # Actual altitude: 57.77065 # Commanded vehicle depth:205.692862 # Seafloor depth:-263.463512 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 231.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 3.545682 meters # Minimum depth: 255.622101 meters looking forward 100.000000 meters along route # Maximum depth: 261.598855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 205.622101 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790580; longitude = -121.837447; captureRadius = 10; duration = 3; initialDepth = 205.622101; finalDepth = 205.692862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.77065 # Actual altitude: 57.77065 # Commanded vehicle depth:205.622101 # Seafloor depth:-255.622101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 231.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.251247 meters # Minimum depth: 254.025677 meters looking forward 100.000000 meters along route # Maximum depth: 255.475981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 204.025677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790569; longitude = -121.837410; captureRadius = 10; duration = 101; initialDepth = 204.025677; finalDepth = 205.622101; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.450304 # Actual altitude: 51.450304 # Commanded vehicle depth:204.025677 # Seafloor depth:-255.475981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.789057 meters # Minimum depth: 245.996467 meters looking forward 100.000000 meters along route # Maximum depth: 254.358309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 195.996467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790253; longitude = -121.836345; captureRadius = 10; duration = 104; initialDepth = 195.996467; finalDepth = 204.025677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.208529 # Actual altitude: 58.208529 # Commanded vehicle depth:195.996467 # Seafloor depth:-254.204996 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 232.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 7.060854 meters # Minimum depth: 244.840206 meters looking forward 100.000000 meters along route # Maximum depth: 253.891283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 194.840206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789927; longitude = -121.835243; captureRadius = 10; duration = 7; initialDepth = 194.840206; finalDepth = 195.996467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.208529 # Actual altitude: 58.208529 # Commanded vehicle depth:194.840206 # Seafloor depth:-245.186562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 232.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 101.930491 meters # Minimum depth: 238.515951 meters looking forward 100.000000 meters along route # Maximum depth: 245.095620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 188.515951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789906; longitude = -121.835168; captureRadius = 10; duration = 101; initialDepth = 188.515951; finalDepth = 194.840206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.388509 # Actual altitude: 56.388509 # Commanded vehicle depth:188.515951 # Seafloor depth:-244.904460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 102.418872 meters # Minimum depth: 238.482893 meters looking forward 100.000000 meters along route # Maximum depth: 244.902213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 188.482893 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789609; longitude = -121.834087; captureRadius = 10; duration = 102; initialDepth = 188.482893; finalDepth = 188.515951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.388509 # Actual altitude: 56.388509 # Commanded vehicle depth:188.482893 # Seafloor depth:-238.590143 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 69.202579 meters # Minimum depth: 241.918765 meters looking forward 100.000000 meters along route # Maximum depth: 245.017923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 191.918765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789311; longitude = -121.833001; captureRadius = 10; duration = 69; initialDepth = 191.918765; finalDepth = 188.482893; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.94085 # Actual altitude: 52.94085 # Commanded vehicle depth:191.918765 # Seafloor depth:-244.859615 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.76; 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 = 211.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.340852 meters # Minimum depth: 237.330217 meters looking forward 100.000000 meters along route # Maximum depth: 242.793407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 187.330217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789143; longitude = -121.832254; captureRadius = 10; duration = 100; initialDepth = 187.330217; finalDepth = 191.918765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.870077 # Actual altitude: 54.870077 # Commanded vehicle depth:187.330217 # Seafloor depth:-242.200294 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.48; 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 = 219.48; 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 20 # Segment length 102.037578 meters # Minimum depth: 235.229947 meters looking forward 100.000000 meters along route # Maximum depth: 237.003338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 185.229947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.788900; longitude = -121.831171; captureRadius = 10; duration = 102; initialDepth = 185.229947; finalDepth = 187.330217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.870077 # Actual altitude: 54.870077 # Commanded vehicle depth:185.229947 # Seafloor depth:-237.003338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.48; 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 = 219.48; 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 20 # Segment length 102.427660 meters # Minimum depth: 232.382467 meters looking forward 100.000000 meters along route # Maximum depth: 235.592941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 182.382467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789049; longitude = -121.830043; captureRadius = 10; duration = 102; initialDepth = 182.382467; finalDepth = 185.229947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.110352 # Actual altitude: 53.110352 # Commanded vehicle depth:182.382467 # Seafloor depth:-235.492819 # 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 19 # Segment length 100.996675 meters # Minimum depth: 227.894857 meters looking forward 100.000000 meters along route # Maximum depth: 232.544643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 177.894857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789199; longitude = -121.828910; captureRadius = 10; duration = 100; initialDepth = 177.894857; finalDepth = 182.382467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.533572 # Actual altitude: 54.533572 # Commanded vehicle depth:177.894857 # Seafloor depth:-232.428429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.984286 meters # Minimum depth: 222.778569 meters looking forward 100.000000 meters along route # Maximum depth: 227.565670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 172.778569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789582; longitude = -121.827883; captureRadius = 10; duration = 100; initialDepth = 172.778569; finalDepth = 177.894857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.787101 # Actual altitude: 54.787101 # Commanded vehicle depth:172.778569 # Seafloor depth:-227.565670 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.15; 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 = 219.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 76.000083 meters # Minimum depth: 221.382888 meters looking forward 100.000000 meters along route # Maximum depth: 224.000712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 171.382888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.789964; longitude = -121.826856; captureRadius = 10; duration = 76; initialDepth = 171.382888; finalDepth = 172.778569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.787101 # Actual altitude: 54.787101 # Commanded vehicle depth:171.382888 # Seafloor depth:-222.714336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.15; 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 = 219.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 101.960505 meters # Minimum depth: 220.713128 meters looking forward 100.000000 meters along route # Maximum depth: 222.077097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 170.713128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790403; longitude = -121.826202; captureRadius = 10; duration = 101; initialDepth = 170.713128; finalDepth = 171.382888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.331448 # Actual altitude: 51.331448 # Commanded vehicle depth:170.713128 # Seafloor depth:-221.359503 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 205.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 78.717460 meters # Minimum depth: 210.221505 meters looking forward 100.000000 meters along route # Maximum depth: 221.255743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 160.221505 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.790991; longitude = -121.825324; captureRadius = 10; duration = 78; initialDepth = 160.221505; finalDepth = 170.713128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.538161 # Actual altitude: 60.538161 # Commanded vehicle depth:160.221505 # Seafloor depth:-220.759666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 103.955476 meters # Minimum depth: 215.540790 meters looking forward 100.000000 meters along route # Maximum depth: 222.381074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 165.540790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.791514; longitude = -121.824728; captureRadius = 10; duration = 103; initialDepth = 165.540790; finalDepth = 160.221505; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.538161 # Actual altitude: 60.538161 # Commanded vehicle depth:165.54079 # Seafloor depth:-215.540790 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 242.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 85.815067 meters # Minimum depth: 217.053261 meters looking forward 100.000000 meters along route # Maximum depth: 221.063668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 167.053261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792205; longitude = -121.823941; captureRadius = 10; duration = 85; initialDepth = 167.053261; finalDepth = 165.540790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.503742 # Actual altitude: 53.503742 # Commanded vehicle depth:167.053261 # Seafloor depth:-220.557003 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.01; 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 = 214.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 45.724367 meters # Minimum depth: 216.165520 meters looking forward 100.000000 meters along route # Maximum depth: 219.930105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 166.165520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.792653; longitude = -121.823157; captureRadius = 10; duration = 45; initialDepth = 166.165520; finalDepth = 167.053261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.503742 # Actual altitude: 53.503742 # Commanded vehicle depth:166.16552 # Seafloor depth:-216.808216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.01; 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 = 214.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.490092 meters # Minimum depth: 212.510965 meters looking forward 100.000000 meters along route # Maximum depth: 216.032564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 162.510965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793027; longitude = -121.822941; captureRadius = 10; duration = 100; initialDepth = 162.510965; finalDepth = 166.165520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.521599 # Actual altitude: 53.521599 # Commanded vehicle depth:162.510965 # Seafloor depth:-216.032564 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 74.851102 meters # Minimum depth: 210.103549 meters looking forward 100.000000 meters along route # Maximum depth: 212.869181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 160.103549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.793848; longitude = -121.822466; captureRadius = 10; duration = 74; initialDepth = 160.103549; finalDepth = 162.510965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.521599 # Actual altitude: 53.521599 # Commanded vehicle depth:160.103549 # Seafloor depth:-212.243603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 214.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 103.425727 meters # Minimum depth: 205.186690 meters looking forward 100.000000 meters along route # Maximum depth: 209.631531 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 155.186690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.794483; longitude = -121.822183; captureRadius = 10; duration = 103; initialDepth = 155.186690; finalDepth = 160.103549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.444841 # Actual altitude: 54.444841 # Commanded vehicle depth:155.18669 # Seafloor depth:-209.631531 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.78; 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 = 217.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 20.773988 meters # Minimum depth: 204.965630 meters looking forward 100.000000 meters along route # Maximum depth: 208.655190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 154.965630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795361; longitude = -121.821793; captureRadius = 10; duration = 20; initialDepth = 154.965630; finalDepth = 155.186690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.444841 # Actual altitude: 54.444841 # Commanded vehicle depth:154.96563 # Seafloor depth:-205.067642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.78; 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 = 217.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.885091 meters # Minimum depth: 201.703214 meters looking forward 100.000000 meters along route # Maximum depth: 205.000493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 151.703214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.795548; longitude = -121.821812; captureRadius = 10; duration = 103; initialDepth = 151.703214; finalDepth = 154.965630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.297279 # Actual altitude: 53.297279 # Commanded vehicle depth:151.703214 # Seafloor depth:-205.000493 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 95.678185 meters # Minimum depth: 198.658614 meters looking forward 100.000000 meters along route # Maximum depth: 201.703214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 148.658614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.796481; longitude = -121.821905; captureRadius = 10; duration = 95; initialDepth = 148.658614; finalDepth = 151.703214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.297279 # Actual altitude: 53.297279 # Commanded vehicle depth:148.658614 # Seafloor depth:-201.600407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 213.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.843416 meters # Minimum depth: 195.502014 meters looking forward 100.000000 meters along route # Maximum depth: 198.624954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 145.502014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.797340; longitude = -121.821996; captureRadius = 10; duration = 101; initialDepth = 145.502014; finalDepth = 148.658614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.941793 # Actual altitude: 52.941793 # Commanded vehicle depth:145.502014 # Seafloor depth:-197.928844 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.77; 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 = 211.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 41.605122 meters # Minimum depth: 193.347721 meters looking forward 100.000000 meters along route # Maximum depth: 196.738256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 143.347721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798255; longitude = -121.822092; captureRadius = 10; duration = 41; initialDepth = 143.347721; finalDepth = 145.502014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.58638 # Actual altitude: 52.58638 # Commanded vehicle depth:143.347721 # Seafloor depth:-195.934101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 210.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.869747 meters # Minimum depth: 189.049006 meters looking forward 100.000000 meters along route # Maximum depth: 193.315075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 139.049006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798629; longitude = -121.822055; captureRadius = 10; duration = 103; initialDepth = 139.049006; finalDepth = 143.347721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.266069 # Actual altitude: 54.266069 # Commanded vehicle depth:139.049006 # Seafloor depth:-193.315075 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 74.945099 meters # Minimum depth: 188.520239 meters looking forward 100.000000 meters along route # Maximum depth: 191.169292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 138.520239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799562; longitude = -121.821961; captureRadius = 10; duration = 74; initialDepth = 138.520239; finalDepth = 139.049006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.266069 # Actual altitude: 54.266069 # Commanded vehicle depth:138.520239 # Seafloor depth:-191.140110 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 100.003903 meters # Minimum depth: 185.794508 meters looking forward 100.000000 meters along route # Maximum depth: 188.586013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 135.794508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799899; longitude = -121.821233; captureRadius = 10; duration = 100; initialDepth = 135.794508; finalDepth = 138.520239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.733294 # Actual altitude: 52.733294 # Commanded vehicle depth:135.794508 # Seafloor depth:-188.527802 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.09; MB_Bottom_Detect_Filter_Max_Range = 210.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 79.132319 meters # Minimum depth: 181.982512 meters looking forward 100.000000 meters along route # Maximum depth: 186.383991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 131.982512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799618; longitude = -121.820168; captureRadius = 10; duration = 79; initialDepth = 131.982512; finalDepth = 135.794508; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.566495 # Actual altitude: 53.566495 # Commanded vehicle depth:131.982512 # Seafloor depth:-185.549007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.27; 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 = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.278950 meters # Minimum depth: 179.031554 meters looking forward 100.000000 meters along route # Maximum depth: 182.111911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 129.031554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799315; longitude = -121.819365; captureRadius = 10; duration = 101; initialDepth = 129.031554; finalDepth = 131.982512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.566495 # Actual altitude: 53.566495 # Commanded vehicle depth:129.031554 # Seafloor depth:-182.111911 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.27; 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 = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 20.220414 meters # Minimum depth: 179.031554 meters looking forward 100.000000 meters along route # Maximum depth: 181.839883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 129.031554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798928; longitude = -121.818337; captureRadius = 10; duration = 20; initialDepth = 129.031554; finalDepth = 129.031554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.080357 # Actual altitude: 53.080357 # Commanded vehicle depth:129.031554 # Seafloor depth:-179.140648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.026401 meters # Minimum depth: 176.556030 meters looking forward 100.000000 meters along route # Maximum depth: 179.493088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 126.556030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798850; longitude = -121.818132; captureRadius = 10; duration = 105; initialDepth = 126.556030; finalDepth = 129.031554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.937058 # Actual altitude: 52.937058 # Commanded vehicle depth:126.55603 # Seafloor depth:-179.493088 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.201125 meters # Minimum depth: 172.457487 meters looking forward 100.000000 meters along route # Maximum depth: 177.893543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 122.457487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798447; longitude = -121.817067; captureRadius = 10; duration = 103; initialDepth = 122.457487; finalDepth = 126.556030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.272609 # Actual altitude: 54.272609 # Commanded vehicle depth:122.457487 # Seafloor depth:-176.730096 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 77.272854 meters # Minimum depth: 170.415587 meters looking forward 100.000000 meters along route # Maximum depth: 173.246208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 120.415587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798050; longitude = -121.816021; captureRadius = 10; duration = 77; initialDepth = 120.415587; finalDepth = 122.457487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.272609 # Actual altitude: 54.272609 # Commanded vehicle depth:120.415587 # Seafloor depth:-172.074768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.528175 meters # Minimum depth: 165.808278 meters looking forward 100.000000 meters along route # Maximum depth: 170.449559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 115.808278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798138; longitude = -121.815162; captureRadius = 10; duration = 102; initialDepth = 115.808278; finalDepth = 120.415587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.388074 # Actual altitude: 54.388074 # Commanded vehicle depth:115.808278 # Seafloor depth:-170.196352 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 44.150410 meters # Minimum depth: 164.194044 meters looking forward 100.000000 meters along route # Maximum depth: 168.321938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 114.194044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798255; longitude = -121.814022; captureRadius = 10; duration = 44; initialDepth = 114.194044; finalDepth = 115.808278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.388074 # Actual altitude: 54.388074 # Commanded vehicle depth:114.194044 # Seafloor depth:-166.008579 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.483715 meters # Minimum depth: 162.049653 meters looking forward 100.000000 meters along route # Maximum depth: 164.842466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 112.049653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.798629; longitude = -121.813852; captureRadius = 10; duration = 101; initialDepth = 112.049653; finalDepth = 114.194044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.792813 # Actual altitude: 52.792813 # Commanded vehicle depth:112.049653 # Seafloor depth:-164.842466 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; 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 = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 42.484277 meters # Minimum depth: 161.194438 meters looking forward 100.000000 meters along route # Maximum depth: 163.057502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 111.194438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799488; longitude = -121.813462; captureRadius = 10; duration = 42; initialDepth = 111.194438; finalDepth = 112.049653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.792813 # Actual altitude: 52.792813 # Commanded vehicle depth:111.194438 # Seafloor depth:-162.492958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.17; 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 = 211.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.594829 meters # Minimum depth: 148.023136 meters looking forward 100.000000 meters along route # Maximum depth: 161.350658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 98.023136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.799653; longitude = -121.813032; captureRadius = 10; duration = 101; initialDepth = 98.023136; finalDepth = 111.194438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.327522 # Actual altitude: 63.327522 # Commanded vehicle depth:98.023136 # Seafloor depth:-161.350658 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 11.566332 meters # Minimum depth: 148.023136 meters looking forward 100.000000 meters along route # Maximum depth: 159.899253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 98.023136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800048; longitude = -121.812005; captureRadius = 10; duration = 11; initialDepth = 98.023136; finalDepth = 98.023136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.327522 # Actual altitude: 63.327522 # Commanded vehicle depth:98.023136 # Seafloor depth:-148.185482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 253.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 101.979507 meters # Minimum depth: 147.841337 meters looking forward 100.000000 meters along route # Maximum depth: 157.762306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 97.841337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800120; longitude = -121.811912; captureRadius = 10; duration = 101; initialDepth = 97.841337; finalDepth = 98.023136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.162346 # Actual altitude: 50.162346 # Commanded vehicle depth:97.841337 # Seafloor depth:-147.961969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.65; 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 = 200.65; 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 during line 3 # Segment length 101.514900 meters # Minimum depth: 151.798261 meters looking forward 100.000000 meters along route # Maximum depth: 154.914196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 101.798261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.800758; longitude = -121.811088; captureRadius = 10; duration = 101; initialDepth = 101.798261; finalDepth = 97.841337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.998899 # Actual altitude: 52.998899 # Commanded vehicle depth:101.798261 # Seafloor depth:-154.797160 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.00; 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 = 212.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 26.160239 meters # Minimum depth: 145.267110 meters looking forward 100.000000 meters along route # Maximum depth: 154.914196 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 95.267110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801392; longitude = -121.810268; captureRadius = 10; duration = 26; initialDepth = 95.267110; finalDepth = 101.798261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.285628 # Actual altitude: 56.285628 # Commanded vehicle depth:95.26711 # Seafloor depth:-151.552738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.51; MB_Bottom_Detect_Filter_Max_Range = 225.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.854284 meters # Minimum depth: 136.973997 meters looking forward 100.000000 meters along route # Maximum depth: 145.959975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 86.973997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801486; longitude = -121.809999; captureRadius = 10; duration = 102; initialDepth = 86.973997; finalDepth = 95.267110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.194865 # Actual altitude: 58.194865 # Commanded vehicle depth:86.973997 # Seafloor depth:-145.168862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 232.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 105.374657 meters # Minimum depth: 142.032228 meters looking forward 100.000000 meters along route # Maximum depth: 146.083335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 92.032228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.801855; longitude = -121.808941; captureRadius = 10; duration = 105; initialDepth = 92.032228; finalDepth = 86.973997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.194865 # Actual altitude: 58.194865 # Commanded vehicle depth:92.032228 # Seafloor depth:-146.001206 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 232.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 8.349562 meters # Minimum depth: 141.715102 meters looking forward 100.000000 meters along route # Maximum depth: 145.968364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 91.715102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802233; longitude = -121.807858; captureRadius = 10; duration = 8; initialDepth = 91.715102; finalDepth = 92.032228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.968978 # Actual altitude: 53.968978 # Commanded vehicle depth:91.715102 # Seafloor depth:-141.868340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 215.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.229467 meters # Minimum depth: 135.215079 meters looking forward 100.000000 meters along route # Maximum depth: 141.507520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 85.215079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802238; longitude = -121.807765; captureRadius = 10; duration = 100; initialDepth = 85.215079; finalDepth = 91.715102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.292441 # Actual altitude: 56.292441 # Commanded vehicle depth:85.215079 # Seafloor depth:-141.507520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.52; MB_Bottom_Detect_Filter_Max_Range = 225.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.570392 meters # Minimum depth: 126.880118 meters looking forward 100.000000 meters along route # Maximum depth: 134.622042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 76.880118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802300; longitude = -121.806644; captureRadius = 10; duration = 103; initialDepth = 76.880118; finalDepth = 85.215079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.741924 # Actual altitude: 57.741924 # Commanded vehicle depth:76.880118 # Seafloor depth:-134.622042 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 230.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.23; 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: 57.741924 # Actual altitude: 57.741924 # Commanded vehicle depth:76.880118 # Seafloor depth:-127.324819 # 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 = 230.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.10; MB_Bottom_Detect_Filter_Max_Range = 230.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.23; 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: 126.880118 meters looking forward 100.000000 meters along route # Maximum depth: 133.773627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 300.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 35.000000 meters # Behavior depth of 76.880118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.802364; longitude = -121.805486; captureRadius = 10; duration = 500; initialDepth = 76.880118; finalDepth = 76.880118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 0.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 35.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 0.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 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; } # ####################################################### #######################################################