# 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: 20110629_SBPtest_2v1.rte # Mission File: 20110629_SBPtest_2v1.cfg # Distance: 8695.210051 (m) # Estimated Time: 7912 (s) 2.198 (hr) # Abort Time: 10286 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1448 (s) # Way Points: 9 # Route Points: 85 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 25 (m) # Minimum Vehicle Altitude: 25 (m) # Abort Vehicle Altitude: 15 (m) # Delta Depth Restart: 10 (m) # Maximum Vehicle Depth: 1417.00137 (m) # Abort Vehicle Depth: 1429.50137 (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: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.964928 36.723680 -107.549959 0.000000 3 # 1 -122.011741 36.717100 -1432.526611 4244.108198 3 # 2 -122.015399 36.724522 -1374.674154 5129.894905 1 # 3 -122.018871 36.730200 -1334.233724 5832.051933 1 # 4 -122.014615 36.733536 -1289.200195 6362.444473 1 # 5 -122.017191 36.738133 -1276.446615 6921.911262 1 # 6 -122.020028 36.742069 -1264.655924 7426.738684 1 # 7 -122.025516 36.747928 -1229.040527 8240.708894 1 # 8 -122.028764 36.751083 -1207.442627 8695.210051 4 # # A total of 85 mission points have been defined. # # Define Mission parameters: #define SURVEY_SPEED 1.500000 #define ASCENTDESCENT_SPEED 1.500000 #define TRANSIT_SPEED 1.500000 #define MISSION_DISTANCE 8695.210051 #define MISSION_TIME 7912 #define MISSION_TIMEOUT 5400 #define DEPTH_MAX 1417.001370 #define DEPTH_ABORT 1429.501370 #define ALTITUDE_DESIRED 25.000000 #define ALTITUDE_MIN 25.000000 #define ALTITUDE_ABORT 15.000000 #define DELTA_DEPTH_RESTART 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define SPIRAL_DESCENT_ALTITUDE 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; deltaDepthRestart = DELTA_DEPTH_RESTART; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1448; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = ASCENTDESCENT_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 135.827123 meters # Minimum depth: 1207.442627 meters looking forward 100.000000 meters along route # Maximum depth: 1217.734411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1182.442627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751083; longitude = -122.028764; duration = 271; # abortOnTimeout = True; initialDepth = 1192.769524; finalDepth = 1182.442627; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1182.442627 # Seafloor depth: -1207.442627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 102.243949 meters # Minimum depth: 1217.769524 meters looking forward 100.000000 meters along route # Maximum depth: 1221.242498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1192.769524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750140; longitude = -122.027793; duration = 204; initialDepth = 1196.395206; finalDepth = 1192.769524; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1192.769524 # Seafloor depth: -1217.769524 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 103.886223 meters # Minimum depth: 1221.395206 meters looking forward 100.000000 meters along route # Maximum depth: 1225.702488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1196.395206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749430; longitude = -122.027062; duration = 207; initialDepth = 1200.718087; finalDepth = 1196.395206; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1196.395206 # Seafloor depth: -1221.395206 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 112.543862 meters # Minimum depth: 1225.718087 meters looking forward 100.000000 meters along route # Maximum depth: 1230.059999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1200.718087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748709; longitude = -122.026320; duration = 225; initialDepth = 1204.040527; finalDepth = 1200.718087; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1200.718087 # Seafloor depth: -1225.718087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 104.353883 meters # Minimum depth: 1229.040527 meters looking forward 100.000000 meters along route # Maximum depth: 1232.904434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1204.040527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747928; longitude = -122.025516; duration = 208; # abortOnTimeout = True; initialDepth = 1207.914282; finalDepth = 1204.040527; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1204.040527 # Seafloor depth: -1229.040527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.180079 meters # Minimum depth: 1232.914282 meters looking forward 100.000000 meters along route # Maximum depth: 1236.921648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1207.914282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747177; longitude = -122.024812; duration = 200; initialDepth = 1211.241662; finalDepth = 1207.914282; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.0861219999999 # Actual altitude: 25.0861219999999 # Commanded vehicle depth: 1207.914282 # Seafloor depth: -1233.000404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.34; MB_Range = 100.34; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.53; MB_Bottom_Detect_Filter_Max_Range = 100.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.180424 meters # Minimum depth: 1236.241662 meters looking forward 100.000000 meters along route # Maximum depth: 1238.320776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1211.241662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746456; longitude = -122.024137; duration = 200; initialDepth = 1212.185432; finalDepth = 1211.241662; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.3159010000002 # Actual altitude: 26.3159010000002 # Commanded vehicle depth: 1211.241662 # Seafloor depth: -1237.557563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 105.26; MB_Range = 105.26; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.89; MB_Bottom_Detect_Filter_Max_Range = 105.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.180769 meters # Minimum depth: 1237.185432 meters looking forward 100.000000 meters along route # Maximum depth: 1238.919640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1212.185432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745735; longitude = -122.023462; duration = 200; initialDepth = 1214.584619; finalDepth = 1212.185432; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.3159010000002 # Actual altitude: 26.3159010000002 # Commanded vehicle depth: 1212.185432 # Seafloor depth: -1238.164660 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 105.26; MB_Range = 105.26; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.89; MB_Bottom_Detect_Filter_Max_Range = 105.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.181114 meters # Minimum depth: 1239.584619 meters looking forward 100.000000 meters along route # Maximum depth: 1243.691650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1214.584619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745013; longitude = -122.022786; duration = 200; initialDepth = 1220.408447; finalDepth = 1214.584619; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.9792279999999 # Actual altitude: 25.9792279999999 # Commanded vehicle depth: 1214.584619 # Seafloor depth: -1239.584619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 103.92; MB_Range = 103.92; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.79; MB_Bottom_Detect_Filter_Max_Range = 103.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.181459 meters # Minimum depth: 1245.408447 meters looking forward 100.000000 meters along route # Maximum depth: 1250.470346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1220.408447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744292; longitude = -122.022111; duration = 200; initialDepth = 1227.118051; finalDepth = 1220.408447; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1220.408447 # Seafloor depth: -1245.408447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.504166 meters # Minimum depth: 1252.118051 meters looking forward 100.000000 meters along route # Maximum depth: 1261.832788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1227.118051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743571; longitude = -122.021435; duration = 207; initialDepth = 1233.521911; finalDepth = 1227.118051; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1227.118051 # Seafloor depth: -1252.118051 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.208316 meters # Minimum depth: 1258.521911 meters looking forward 100.000000 meters along route # Maximum depth: 1264.414165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1233.521911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742826; longitude = -122.020738; duration = 210; initialDepth = 1235.574940; finalDepth = 1233.521911; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 28.2402789999999 # Actual altitude: 28.2402789999999 # Commanded vehicle depth: 1233.521911 # Seafloor depth: -1261.762190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 112.96; MB_Range = 112.96; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.47; MB_Bottom_Detect_Filter_Max_Range = 112.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 84.779722 meters # Minimum depth: 1260.574940 meters looking forward 100.000000 meters along route # Maximum depth: 1264.972843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1235.574940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742069; longitude = -122.020028; duration = 169; # abortOnTimeout = True; initialDepth = 1234.337179; finalDepth = 1235.574940; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.0809839999999 # Actual altitude: 29.0809839999999 # Commanded vehicle depth: 1235.57494 # Seafloor depth: -1264.655924 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 116.32; MB_Range = 116.32; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.72; MB_Bottom_Detect_Filter_Max_Range = 116.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 107.851024 meters # Minimum depth: 1259.337179 meters looking forward 100.000000 meters along route # Maximum depth: 1268.722345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1234.337179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741408; longitude = -122.019552; duration = 215; initialDepth = 1243.838239; finalDepth = 1234.337179; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 29.0809839999999 # Actual altitude: 29.0809839999999 # Commanded vehicle depth: 1234.337179 # Seafloor depth: -1259.703289 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 116.32; MB_Range = 116.32; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.72; MB_Bottom_Detect_Filter_Max_Range = 116.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 116.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.245437 meters # Minimum depth: 1268.838239 meters looking forward 100.000000 meters along route # Maximum depth: 1273.167419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1243.838239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740567; longitude = -122.018946; duration = 200; initialDepth = 1246.425515; finalDepth = 1243.838239; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.3661099999999 # Actual altitude: 25.3661099999999 # Commanded vehicle depth: 1243.838239 # Seafloor depth: -1268.838239 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 101.46; MB_Range = 101.46; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.61; MB_Bottom_Detect_Filter_Max_Range = 101.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 101.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 104.048646 meters # Minimum depth: 1271.425515 meters looking forward 100.000000 meters along route # Maximum depth: 1273.028843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1246.425515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739785; longitude = -122.018382; duration = 208; initialDepth = 1247.842649; finalDepth = 1246.425515; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.5796950000001 # Actual altitude: 26.5796950000001 # Commanded vehicle depth: 1246.425515 # Seafloor depth: -1273.005210 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 106.32; MB_Range = 106.32; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.97; MB_Bottom_Detect_Filter_Max_Range = 106.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.902593 meters # Minimum depth: 1272.842649 meters looking forward 100.000000 meters along route # Maximum depth: 1278.003062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1247.842649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738974; longitude = -122.017797; duration = 215; initialDepth = 1249.361244; finalDepth = 1247.842649; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 26.5796950000001 # Actual altitude: 26.5796950000001 # Commanded vehicle depth: 1247.842649 # Seafloor depth: -1272.842649 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 106.32; MB_Range = 106.32; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.97; MB_Bottom_Detect_Filter_Max_Range = 106.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 138.952016 meters # Minimum depth: 1274.361244 meters looking forward 100.000000 meters along route # Maximum depth: 1281.880570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1249.361244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738133; longitude = -122.017191; duration = 277; # abortOnTimeout = True; initialDepth = 1255.129992; finalDepth = 1249.361244; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.0853710000001 # Actual altitude: 27.0853710000001 # Commanded vehicle depth: 1249.361244 # Seafloor depth: -1276.446615 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 108.34; MB_Range = 108.34; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.13; MB_Bottom_Detect_Filter_Max_Range = 108.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.699203 meters # Minimum depth: 1280.129992 meters looking forward 100.000000 meters along route # Maximum depth: 1285.707377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1255.129992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736991; longitude = -122.016551; duration = 219; initialDepth = 1257.121680; finalDepth = 1255.129992; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.0853710000001 # Actual altitude: 27.0853710000001 # Commanded vehicle depth: 1255.129992 # Seafloor depth: -1280.950414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 108.34; MB_Range = 108.34; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.13; MB_Bottom_Detect_Filter_Max_Range = 108.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.001344 meters # Minimum depth: 1282.121680 meters looking forward 100.000000 meters along route # Maximum depth: 1285.669393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1257.121680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736090; longitude = -122.016046; duration = 200; initialDepth = 1260.069594; finalDepth = 1257.121680; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.5477129999999 # Actual altitude: 28.5477129999999 # Commanded vehicle depth: 1257.12168 # Seafloor depth: -1285.669393 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 114.19; MB_Range = 114.19; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.56; MB_Bottom_Detect_Filter_Max_Range = 114.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 108.427731 meters # Minimum depth: 1285.069594 meters looking forward 100.000000 meters along route # Maximum depth: 1290.575243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1260.069594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735268; longitude = -122.015586; duration = 216; initialDepth = 1264.798241; finalDepth = 1260.069594; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.5477129999999 # Actual altitude: 28.5477129999999 # Commanded vehicle depth: 1260.069594 # Seafloor depth: -1285.069594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 114.19; MB_Range = 114.19; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.56; MB_Bottom_Detect_Filter_Max_Range = 114.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.386495 meters # Minimum depth: 1289.798241 meters looking forward 100.000000 meters along route # Maximum depth: 1292.301854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1264.798241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734377; longitude = -122.015087; duration = 204; initialDepth = 1263.363477; finalDepth = 1264.798241; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 26.514373 # Actual altitude: 26.514373 # Commanded vehicle depth: 1264.798241 # Seafloor depth: -1291.312614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 106.06; MB_Range = 106.06; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.95; MB_Bottom_Detect_Filter_Max_Range = 106.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 124.235086 meters # Minimum depth: 1288.363477 meters looking forward 100.000000 meters along route # Maximum depth: 1289.221428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1263.363477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733536; longitude = -122.014615; duration = 248; # abortOnTimeout = True; initialDepth = 1262.890490; finalDepth = 1263.363477; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.514373 # Actual altitude: 26.514373 # Commanded vehicle depth: 1263.363477 # Seafloor depth: -1289.200195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 106.06; MB_Range = 106.06; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.95; MB_Bottom_Detect_Filter_Max_Range = 106.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 106.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.344172 meters # Minimum depth: 1287.890490 meters looking forward 100.000000 meters along route # Maximum depth: 1297.811384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1262.890490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732754; longitude = -122.015612; duration = 200; initialDepth = 1264.623319; finalDepth = 1262.890490; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.8367179999998 # Actual altitude: 25.8367179999998 # Commanded vehicle depth: 1262.89049 # Seafloor depth: -1288.346812 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 103.35; MB_Range = 103.35; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.75; MB_Bottom_Detect_Filter_Max_Range = 103.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 103.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.344573 meters # Minimum depth: 1289.623319 meters looking forward 100.000000 meters along route # Maximum depth: 1295.361434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1264.623319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732123; longitude = -122.016417; duration = 200; initialDepth = 1261.112399; finalDepth = 1264.623319; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.7381149999999 # Actual altitude: 30.7381149999999 # Commanded vehicle depth: 1264.623319 # Seafloor depth: -1295.361434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 122.95; MB_Range = 122.95; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.22; MB_Bottom_Detect_Filter_Max_Range = 122.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.111382 meters # Minimum depth: 1286.112399 meters looking forward 100.000000 meters along route # Maximum depth: 1292.740657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1261.112399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731492; longitude = -122.017222; duration = 206; initialDepth = 1268.732775; finalDepth = 1261.112399; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.7381149999999 # Actual altitude: 30.7381149999999 # Commanded vehicle depth: 1261.112399 # Seafloor depth: -1289.506954 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 122.95; MB_Range = 122.95; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.22; MB_Bottom_Detect_Filter_Max_Range = 122.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 122.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.357327 meters # Minimum depth: 1293.732775 meters looking forward 100.000000 meters along route # Maximum depth: 1333.882003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1268.732775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730844; longitude = -122.018050; duration = 204; initialDepth = 1309.233724; finalDepth = 1268.732775; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 28.3945549999999 # Actual altitude: 28.3945549999999 # Commanded vehicle depth: 1268.732775 # Seafloor depth: -1293.732775 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 113.58; MB_Range = 113.58; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.52; MB_Bottom_Detect_Filter_Max_Range = 113.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 113.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 96.592436 meters # Minimum depth: 1334.233724 meters looking forward 100.000000 meters along route # Maximum depth: 1347.591587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1309.233724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730200; longitude = -122.018871; duration = 193; # abortOnTimeout = True; initialDepth = 1324.969626; finalDepth = 1309.233724; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1309.233724 # Seafloor depth: -1334.233724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.307730 meters # Minimum depth: 1349.969626 meters looking forward 100.000000 meters along route # Maximum depth: 1360.223269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1324.969626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729419; longitude = -122.018393; duration = 200; initialDepth = 1333.325980; finalDepth = 1324.969626; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1324.969626 # Seafloor depth: -1349.969626 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.307935 meters # Minimum depth: 1358.325980 meters looking forward 100.000000 meters along route # Maximum depth: 1364.167720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1333.325980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728608; longitude = -122.017897; duration = 200; initialDepth = 1339.248038; finalDepth = 1333.325980; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.4572019999998 # Actual altitude: 26.4572019999998 # Commanded vehicle depth: 1333.32598 # Seafloor depth: -1359.783182 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 105.83; MB_Range = 105.83; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.94; MB_Bottom_Detect_Filter_Max_Range = 105.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.308139 meters # Minimum depth: 1364.248038 meters looking forward 100.000000 meters along route # Maximum depth: 1369.815497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1339.248038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727797; longitude = -122.017401; duration = 200; initialDepth = 1344.467835; finalDepth = 1339.248038; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 26.4572019999998 # Actual altitude: 26.4572019999998 # Commanded vehicle depth: 1339.248038 # Seafloor depth: -1364.357438 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 105.83; MB_Range = 105.83; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.94; MB_Bottom_Detect_Filter_Max_Range = 105.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 105.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.308344 meters # Minimum depth: 1369.467835 meters looking forward 100.000000 meters along route # Maximum depth: 1375.198760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1344.467835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726985; longitude = -122.016905; duration = 200; initialDepth = 1346.760155; finalDepth = 1344.467835; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25.1357070000001 # Actual altitude: 25.1357070000001 # Commanded vehicle depth: 1344.467835 # Seafloor depth: -1369.603542 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.54; MB_Range = 100.54; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.54; MB_Bottom_Detect_Filter_Max_Range = 100.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.308549 meters # Minimum depth: 1371.760155 meters looking forward 100.000000 meters along route # Maximum depth: 1373.934753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1346.760155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726174; longitude = -122.016410; duration = 200; initialDepth = 1347.997789; finalDepth = 1346.760155; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 27.1745980000001 # Actual altitude: 27.1745980000001 # Commanded vehicle depth: 1346.760155 # Seafloor depth: -1373.934753 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 108.70; MB_Range = 108.70; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.15; MB_Bottom_Detect_Filter_Max_Range = 108.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 104.023895 meters # Minimum depth: 1372.997789 meters looking forward 100.000000 meters along route # Maximum depth: 1376.600454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1347.997789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725363; longitude = -122.015914; duration = 208; initialDepth = 1349.674154; finalDepth = 1347.997789; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 27.1745980000001 # Actual altitude: 27.1745980000001 # Commanded vehicle depth: 1347.997789 # Seafloor depth: -1372.997789 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 108.70; MB_Range = 108.70; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.15; MB_Bottom_Detect_Filter_Max_Range = 108.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 108.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 136.274559 meters # Minimum depth: 1374.674154 meters looking forward 100.000000 meters along route # Maximum depth: 1399.437957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1349.674154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724522; longitude = -122.015399; duration = 272; # abortOnTimeout = True; initialDepth = 1379.989922; finalDepth = 1349.674154; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1349.674154 # Seafloor depth: -1374.674154 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.585367 meters # Minimum depth: 1404.989922 meters looking forward 100.000000 meters along route # Maximum depth: 1414.988327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1379.989922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723380; longitude = -122.014836; duration = 215; initialDepth = 1391.799355; finalDepth = 1379.989922; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1379.989922 # Seafloor depth: -1404.989922 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.585533 meters # Minimum depth: 1416.799355 meters looking forward 100.000000 meters along route # Maximum depth: 1419.070275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1391.799355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722478; longitude = -122.014392; duration = 215; initialDepth = 1394.070909; finalDepth = 1391.799355; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1391.799355 # Seafloor depth: -1416.799355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.585699 meters # Minimum depth: 1419.070909 meters looking forward 100.000000 meters along route # Maximum depth: 1426.702220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1394.070909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721577; longitude = -122.013948; duration = 215; initialDepth = 1396.011209; finalDepth = 1394.070909; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1394.070909 # Seafloor depth: -1419.070909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.585866 meters # Minimum depth: 1421.011209 meters looking forward 100.000000 meters along route # Maximum depth: 1424.965621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1396.011209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720676; longitude = -122.013503; duration = 215; initialDepth = 1398.958628; finalDepth = 1396.011209; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.818804 # Actual altitude: 28.818804 # Commanded vehicle depth: 1396.011209 # Seafloor depth: -1424.830013 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 115.28; MB_Range = 115.28; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.65; MB_Bottom_Detect_Filter_Max_Range = 115.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.586032 meters # Minimum depth: 1423.958628 meters looking forward 100.000000 meters along route # Maximum depth: 1425.900370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1398.958628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719774; longitude = -122.013059; duration = 215; initialDepth = 1399.774354; finalDepth = 1398.958628; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.818804 # Actual altitude: 28.818804 # Commanded vehicle depth: 1398.958628 # Seafloor depth: -1423.958628 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 115.28; MB_Range = 115.28; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.65; MB_Bottom_Detect_Filter_Max_Range = 115.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.586199 meters # Minimum depth: 1424.774354 meters looking forward 100.000000 meters along route # Maximum depth: 1429.908670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1399.774354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718873; longitude = -122.012615; duration = 215; initialDepth = 1403.961918; finalDepth = 1399.774354; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1399.774354 # Seafloor depth: -1424.774354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.997452 meters # Minimum depth: 1428.961918 meters looking forward 100.000000 meters along route # Maximum depth: 1433.011470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1403.961918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717971; longitude = -122.012170; duration = 207; initialDepth = 1404.501370; finalDepth = 1403.961918; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 25 # Actual altitude: 25 # Commanded vehicle depth: 1403.961918 # Seafloor depth: -1428.961918 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 100.00; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 77.866506 meters # Minimum depth: 1429.501370 meters looking forward 100.000000 meters along route # Maximum depth: 1432.526611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1404.501370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717100; longitude = -122.011741; duration = 155; # abortOnTimeout = True; initialDepth = 1400.195294; finalDepth = 1404.501370; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.0252410000001 # Actual altitude: 28.0252410000001 # Commanded vehicle depth: 1404.50137 # Seafloor depth: -1432.526611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 112.10; MB_Range = 112.10; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.41; MB_Bottom_Detect_Filter_Max_Range = 112.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 112.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.537228 meters # Minimum depth: 1425.195294 meters looking forward 100.000000 meters along route # Maximum depth: 1429.116719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1400.195294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717221; longitude = -122.010882; duration = 203; initialDepth = 1382.924401; finalDepth = 1400.195294; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 28.921425 # Actual altitude: 28.921425 # Commanded vehicle depth: 1400.195294 # Seafloor depth: -1429.116719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 115.69; MB_Range = 115.69; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.68; MB_Bottom_Detect_Filter_Max_Range = 115.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 115.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.537048 meters # Minimum depth: 1407.924401 meters looking forward 100.000000 meters along route # Maximum depth: 1425.692649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1382.924401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717378; longitude = -122.009762; duration = 203; initialDepth = 1335.330537; finalDepth = 1382.924401; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7645669999999 # Actual altitude: 41.7645669999999 # Commanded vehicle depth: 1382.924401 # Seafloor depth: -1424.688968 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 167.06; MB_Range = 167.06; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.53; MB_Bottom_Detect_Filter_Max_Range = 167.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536870 meters # Minimum depth: 1360.330537 meters looking forward 100.000000 meters along route # Maximum depth: 1401.022338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1335.330537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717536; longitude = -122.008642; duration = 203; initialDepth = 1286.581521; finalDepth = 1335.330537; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6918009999999 # Actual altitude: 65.6918009999999 # Commanded vehicle depth: 1335.330537 # Seafloor depth: -1401.022338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536691 meters # Minimum depth: 1311.581521 meters looking forward 100.000000 meters along route # Maximum depth: 1356.647560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1286.581521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717693; longitude = -122.007522; duration = 203; initialDepth = 1230.531751; finalDepth = 1286.581521; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.066039 # Actual altitude: 70.066039 # Commanded vehicle depth: 1286.581521 # Seafloor depth: -1356.647560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536513 meters # Minimum depth: 1255.531751 meters looking forward 100.000000 meters along route # Maximum depth: 1305.422297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1230.531751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717850; longitude = -122.006402; duration = 203; initialDepth = 1180.996616; finalDepth = 1230.531751; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8905460000001 # Actual altitude: 74.8905460000001 # Commanded vehicle depth: 1230.531751 # Seafloor depth: -1305.422297 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536333 meters # Minimum depth: 1205.996616 meters looking forward 100.000000 meters along route # Maximum depth: 1252.232207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1180.996616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718008; longitude = -122.005283; duration = 203; initialDepth = 1110.914157; finalDepth = 1180.996616; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8905460000001 # Actual altitude: 74.8905460000001 # Commanded vehicle depth: 1180.996616 # Seafloor depth: -1252.232207 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536155 meters # Minimum depth: 1135.914157 meters looking forward 100.000000 meters along route # Maximum depth: 1201.300558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1110.914157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718165; longitude = -122.004163; duration = 203; initialDepth = 1039.439888; finalDepth = 1110.914157; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.386401 # Actual altitude: 90.386401 # Commanded vehicle depth: 1110.914157 # Seafloor depth: -1201.300558 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.12; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535976 meters # Minimum depth: 1064.439888 meters looking forward 100.000000 meters along route # Maximum depth: 1127.094087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 1039.439888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718323; longitude = -122.003043; duration = 203; initialDepth = 965.399837; finalDepth = 1039.439888; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.386401 # Actual altitude: 90.386401 # Commanded vehicle depth: 1039.439888 # Seafloor depth: -1127.094087 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.12; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535797 meters # Minimum depth: 990.399837 meters looking forward 100.000000 meters along route # Maximum depth: 1057.780608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 965.399837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718480; longitude = -122.001923; duration = 203; initialDepth = 891.380702; finalDepth = 965.399837; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.380771 # Actual altitude: 92.380771 # Commanded vehicle depth: 965.399837 # Seafloor depth: -1057.780608 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535619 meters # Minimum depth: 916.380702 meters looking forward 100.000000 meters along route # Maximum depth: 983.322549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 891.380702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718637; longitude = -122.000803; duration = 203; initialDepth = 830.086698; finalDepth = 891.380702; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.380771 # Actual altitude: 92.380771 # Commanded vehicle depth: 891.380702 # Seafloor depth: -983.322549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.71; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535440 meters # Minimum depth: 855.086698 meters looking forward 100.000000 meters along route # Maximum depth: 907.225348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 830.086698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718795; longitude = -121.999683; duration = 203; initialDepth = 762.570486; finalDepth = 830.086698; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.9418469999999 # Actual altitude: 91.9418469999999 # Commanded vehicle depth: 830.086698 # Seafloor depth: -907.225348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535261 meters # Minimum depth: 787.570486 meters looking forward 100.000000 meters along route # Maximum depth: 846.237024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 762.570486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718952; longitude = -121.998563; duration = 203; initialDepth = 730.868962; finalDepth = 762.570486; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6665380000001 # Actual altitude: 83.6665380000001 # Commanded vehicle depth: 762.570486 # Seafloor depth: -846.237024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535083 meters # Minimum depth: 755.868962 meters looking forward 100.000000 meters along route # Maximum depth: 786.472399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 730.868962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719110; longitude = -121.997443; duration = 203; initialDepth = 647.835075; finalDepth = 730.868962; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.6665380000001 # Actual altitude: 83.6665380000001 # Commanded vehicle depth: 730.868962 # Seafloor depth: -786.472399 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534904 meters # Minimum depth: 672.835075 meters looking forward 100.000000 meters along route # Maximum depth: 748.767872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 647.835075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719267; longitude = -121.996323; duration = 203; initialDepth = 548.925136; finalDepth = 647.835075; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.932797 # Actual altitude: 100 # Commanded vehicle depth: 647.835075 # Seafloor depth: -748.767872 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534726 meters # Minimum depth: 573.925136 meters looking forward 100.000000 meters along route # Maximum depth: 673.353596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 548.925136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719425; longitude = -121.995203; duration = 203; initialDepth = 486.897865; finalDepth = 548.925136; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.42846 # Actual altitude: 100 # Commanded vehicle depth: 548.925136 # Seafloor depth: -673.353596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534547 meters # Minimum depth: 511.897865 meters looking forward 100.000000 meters along route # Maximum depth: 571.620885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 486.897865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719582; longitude = -121.994083; duration = 203; initialDepth = 460.201882; finalDepth = 486.897865; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.42846 # Actual altitude: 100 # Commanded vehicle depth: 486.897865 # Seafloor depth: -571.620885 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534369 meters # Minimum depth: 485.201882 meters looking forward 100.000000 meters along route # Maximum depth: 506.728733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 460.201882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719739; longitude = -121.992963; duration = 203; initialDepth = 442.720490; finalDepth = 460.201882; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.72302 # Actual altitude: 84.72302 # Commanded vehicle depth: 460.201882 # Seafloor depth: -506.728733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534190 meters # Minimum depth: 467.720490 meters looking forward 100.000000 meters along route # Maximum depth: 479.832323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 442.720490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719897; longitude = -121.991843; duration = 203; initialDepth = 434.916208; finalDepth = 442.720490; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.526851 # Actual altitude: 46.526851 # Commanded vehicle depth: 442.72049 # Seafloor depth: -479.832323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.96; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534012 meters # Minimum depth: 459.916208 meters looking forward 100.000000 meters along route # Maximum depth: 465.759016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 434.916208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720054; longitude = -121.990723; duration = 203; initialDepth = 420.684523; finalDepth = 434.916208; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 37.111833 # Actual altitude: 37.111833 # Commanded vehicle depth: 434.916208 # Seafloor depth: -465.759016 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 148.45; MB_Range = 148.45; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.13; MB_Bottom_Detect_Filter_Max_Range = 148.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533833 meters # Minimum depth: 445.684523 meters looking forward 100.000000 meters along route # Maximum depth: 458.724659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 420.684523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720212; longitude = -121.989604; duration = 203; initialDepth = 405.458068; finalDepth = 420.684523; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.040136 # Actual altitude: 38.040136 # Commanded vehicle depth: 420.684523 # Seafloor depth: -458.724659 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 152.16; MB_Range = 152.16; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.41; MB_Bottom_Detect_Filter_Max_Range = 152.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533655 meters # Minimum depth: 430.458068 meters looking forward 100.000000 meters along route # Maximum depth: 445.580742 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 405.458068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720369; longitude = -121.988484; duration = 203; initialDepth = 388.662458; finalDepth = 405.458068; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.122674 # Actual altitude: 40.122674 # Commanded vehicle depth: 405.458068 # Seafloor depth: -445.580742 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 160.49; MB_Range = 160.49; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.04; MB_Bottom_Detect_Filter_Max_Range = 160.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533476 meters # Minimum depth: 413.662458 meters looking forward 100.000000 meters along route # Maximum depth: 430.072902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 388.662458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720526; longitude = -121.987364; duration = 203; initialDepth = 372.959844; finalDepth = 388.662458; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.410444 # Actual altitude: 41.410444 # Commanded vehicle depth: 388.662458 # Seafloor depth: -430.072902 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 165.64; MB_Range = 165.64; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.42; MB_Bottom_Detect_Filter_Max_Range = 165.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533298 meters # Minimum depth: 397.959844 meters looking forward 100.000000 meters along route # Maximum depth: 411.930150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 372.959844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720684; longitude = -121.986244; duration = 203; initialDepth = 353.380526; finalDepth = 372.959844; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.410444 # Actual altitude: 41.410444 # Commanded vehicle depth: 372.959844 # Seafloor depth: -411.840204 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 165.64; MB_Range = 165.64; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.42; MB_Bottom_Detect_Filter_Max_Range = 165.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533120 meters # Minimum depth: 378.380526 meters looking forward 100.000000 meters along route # Maximum depth: 395.893315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 353.380526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720841; longitude = -121.985124; duration = 203; initialDepth = 320.823467; finalDepth = 353.380526; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.512789 # Actual altitude: 42.512789 # Commanded vehicle depth: 353.380526 # Seafloor depth: -395.893315 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 170.05; MB_Range = 170.05; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.75; MB_Bottom_Detect_Filter_Max_Range = 170.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532942 meters # Minimum depth: 345.823467 meters looking forward 100.000000 meters along route # Maximum depth: 375.594881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 320.823467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720999; longitude = -121.984004; duration = 203; initialDepth = 289.894277; finalDepth = 320.823467; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.771414 # Actual altitude: 54.771414 # Commanded vehicle depth: 320.823467 # Seafloor depth: -375.594881 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.43; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532763 meters # Minimum depth: 314.894277 meters looking forward 100.000000 meters along route # Maximum depth: 341.962801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 289.894277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721156; longitude = -121.982884; duration = 203; initialDepth = 265.353648; finalDepth = 289.894277; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.771414 # Actual altitude: 54.771414 # Commanded vehicle depth: 289.894277 # Seafloor depth: -341.962801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.43; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532585 meters # Minimum depth: 290.353648 meters looking forward 100.000000 meters along route # Maximum depth: 313.875121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 265.353648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721314; longitude = -121.981764; duration = 203; initialDepth = 243.348739; finalDepth = 265.353648; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.068524 # Actual altitude: 52.068524 # Commanded vehicle depth: 265.353648 # Seafloor depth: -313.875121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532406 meters # Minimum depth: 268.348739 meters looking forward 100.000000 meters along route # Maximum depth: 287.270323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 243.348739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721471; longitude = -121.980644; duration = 203; initialDepth = 227.694071; finalDepth = 243.348739; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.521473 # Actual altitude: 48.521473 # Commanded vehicle depth: 243.348739 # Seafloor depth: -287.270323 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 14.56; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532229 meters # Minimum depth: 252.694071 meters looking forward 100.000000 meters along route # Maximum depth: 266.378298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 227.694071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721628; longitude = -121.979524; duration = 203; initialDepth = 211.278449; finalDepth = 227.694071; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.921584 # Actual altitude: 43.921584 # Commanded vehicle depth: 227.694071 # Seafloor depth: -266.378298 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.18; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532050 meters # Minimum depth: 236.278449 meters looking forward 100.000000 meters along route # Maximum depth: 250.151888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 211.278449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721786; longitude = -121.978404; duration = 203; initialDepth = 202.377803; finalDepth = 211.278449; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.873439 # Actual altitude: 38.873439 # Commanded vehicle depth: 211.278449 # Seafloor depth: -250.151888 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 155.49; MB_Range = 155.49; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.66; MB_Bottom_Detect_Filter_Max_Range = 155.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531872 meters # Minimum depth: 227.377803 meters looking forward 100.000000 meters along route # Maximum depth: 235.779781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 202.377803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721943; longitude = -121.977284; duration = 203; initialDepth = 190.352861; finalDepth = 202.377803; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 38.873439 # Actual altitude: 38.873439 # Commanded vehicle depth: 202.377803 # Seafloor depth: -235.779781 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 155.49; MB_Range = 155.49; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 11.66; MB_Bottom_Detect_Filter_Max_Range = 155.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531694 meters # Minimum depth: 215.352861 meters looking forward 100.000000 meters along route # Maximum depth: 225.789042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 190.352861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722101; longitude = -121.976164; duration = 203; initialDepth = 172.658034; finalDepth = 190.352861; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 35.436181 # Actual altitude: 35.436181 # Commanded vehicle depth: 190.352861 # Seafloor depth: -225.789042 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 141.74; MB_Range = 141.74; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.63; MB_Bottom_Detect_Filter_Max_Range = 141.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 141.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531516 meters # Minimum depth: 197.658034 meters looking forward 100.000000 meters along route # Maximum depth: 212.843561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 172.658034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722258; longitude = -121.975044; duration = 203; initialDepth = 150.097976; finalDepth = 172.658034; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.185527 # Actual altitude: 40.185527 # Commanded vehicle depth: 172.658034 # Seafloor depth: -212.843561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 160.74; MB_Range = 160.74; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.06; MB_Bottom_Detect_Filter_Max_Range = 160.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531337 meters # Minimum depth: 175.097976 meters looking forward 100.000000 meters along route # Maximum depth: 194.485580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 150.097976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722415; longitude = -121.973925; duration = 203; initialDepth = 132.424957; finalDepth = 150.097976; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.387604 # Actual altitude: 44.387604 # Commanded vehicle depth: 150.097976 # Seafloor depth: -194.485580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.32; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531160 meters # Minimum depth: 157.424957 meters looking forward 100.000000 meters along route # Maximum depth: 174.552335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 132.424957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722573; longitude = -121.972805; duration = 203; initialDepth = 113.945872; finalDepth = 132.424957; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.387604 # Actual altitude: 44.387604 # Commanded vehicle depth: 132.424957 # Seafloor depth: -174.552335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 13.32; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530982 meters # Minimum depth: 138.945872 meters looking forward 100.000000 meters along route # Maximum depth: 154.528143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 113.945872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722730; longitude = -121.971685; duration = 203; initialDepth = 103.419196; finalDepth = 113.945872; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.127378 # Actual altitude: 42.127378 # Commanded vehicle depth: 113.945872 # Seafloor depth: -154.528143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 168.51; MB_Range = 168.51; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.64; MB_Bottom_Detect_Filter_Max_Range = 168.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530803 meters # Minimum depth: 128.419196 meters looking forward 100.000000 meters along route # Maximum depth: 137.756680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 103.419196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722888; longitude = -121.970565; duration = 203; initialDepth = 96.004138; finalDepth = 103.419196; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.582271 # Actual altitude: 40.582271 # Commanded vehicle depth: 103.419196 # Seafloor depth: -137.756680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 162.33; MB_Range = 162.33; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.17; MB_Bottom_Detect_Filter_Max_Range = 162.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530626 meters # Minimum depth: 121.004138 meters looking forward 100.000000 meters along route # Maximum depth: 127.003010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 96.004138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723045; longitude = -121.969445; duration = 203; initialDepth = 89.975266; finalDepth = 96.004138; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 34.337484 # Actual altitude: 34.337484 # Commanded vehicle depth: 96.004138 # Seafloor depth: -127.003010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 137.35; MB_Range = 137.35; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 10.30; MB_Bottom_Detect_Filter_Max_Range = 137.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 137.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530447 meters # Minimum depth: 114.975266 meters looking forward 100.000000 meters along route # Maximum depth: 120.896573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 89.975266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723203; longitude = -121.968325; duration = 203; initialDepth = 86.306174; finalDepth = 89.975266; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.998872 # Actual altitude: 30.998872 # Commanded vehicle depth: 89.975266 # Seafloor depth: -120.896573 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 124.00; MB_Range = 124.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.30; MB_Bottom_Detect_Filter_Max_Range = 124.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 124.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530270 meters # Minimum depth: 111.306174 meters looking forward 100.000000 meters along route # Maximum depth: 114.565474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 86.306174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723360; longitude = -121.967205; duration = 203; initialDepth = 82.451999; finalDepth = 86.306174; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 30.921307 # Actual altitude: 30.921307 # Commanded vehicle depth: 86.306174 # Seafloor depth: -114.565474 # behavior reson { duration = RESON_DURATION; SBP_Duration = 200.000; LoSS_Range = 123.69; MB_Range = 123.69; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 9.28; MB_Bottom_Detect_Filter_Max_Range = 123.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 123.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.891866 meters # Minimum depth: 107.451999 meters looking forward 100.000000 meters along route # Maximum depth: 111.165931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 82.451999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723517; longitude = -121.966085; duration = 209; initialDepth = 82.451999; finalDepth = 82.451999; speed = SURVEY_SPEED; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 28.713932 # Actual altitude: 28.713932 # Commanded vehicle depth: 82.451999 # Seafloor depth: -111.165931 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 114.86; MB_Range = 114.86; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.61; MB_Bottom_Detect_Filter_Max_Range = 114.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 28.713932 # Sonar parameter altitude: 28.713932 # Commanded vehicle depth: 82.451999 # Seafloor depth: -107.549959 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 114.86; MB_Power = 220; MB_Range = 114.86; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 8.61; MB_Bottom_Detect_Filter_Max_Range = 114.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 114.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 107.451999 meters looking forward 100.000000 meters along route # Maximum depth: 110.576989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1417.001370 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 82.451999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723680; longitude = -121.964928; duration = 600; initialDepth = 82.451999; finalDepth = 82.451999; speed = SURVEY_SPEED; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 210.0; pitch = DESCENDPITCH; speed = ASCENTDESCENT_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 210.0; speed = ASCENTDESCENT_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 114.86; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 114.855728; MB_Power = 0; MB_Range = 100.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 7.50; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 100.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################