# 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: DavidsonSurvey03_50m_v2.rte # Mission File: DavidsonSurvey03_50m_v2.cfg # Distance: 29485.949693 (m) # Estimated Time: 26156 (s) 7.266 (hr) # Abort Time: 27000 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5598 (s) # Way Points: 30 # Route Points: 259 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 45 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 2250 (m) # Abort Vehicle Depth: 2300 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.36 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.724856 35.724365 -1342.227020 0.000000 1 # 1 -122.725121 35.722310 -1367.660675 229.177434 1 # 2 -122.733154 35.713632 -1734.631409 1435.108198 1 # 3 -122.729970 35.711992 -1567.379486 1775.742831 1 # 4 -122.706440 35.737832 -1473.319122 5345.360281 1 # 5 -122.704628 35.737093 -1492.062683 5528.569181 1 # 6 -122.707695 35.733248 -1514.847015 6037.274627 1 # 7 -122.718003 35.722634 -1496.209869 7538.890627 1 # 8 -122.726492 35.713296 -1540.402771 8828.143089 1 # 9 -122.727384 35.709558 -1532.086029 9250.503738 1 # 10 -122.722741 35.714678 -1568.370178 9956.796309 1 # 11 -122.702328 35.737345 -1591.730591 13075.841501 1 # 12 -122.700544 35.736621 -1684.979309 13256.042952 1 # 13 -122.725298 35.709221 -1572.891693 17030.627066 1 # 14 -122.723717 35.708234 -1684.002838 17210.728668 1 # 15 -122.714112 35.718830 -1631.100067 18672.208649 1 # 16 -122.720766 35.725339 -1342.569580 19612.069679 1 # 17 -122.721066 35.729257 -1565.407745 20047.462951 1 # 18 -122.718931 35.731865 -1669.840271 20395.236915 1 # 19 -122.715925 35.732586 -1728.335236 20678.593481 1 # 20 -122.708541 35.740843 -1642.854736 21811.956123 1 # 21 -122.710228 35.741919 -1750.348450 22005.633525 1 # 22 -122.717258 35.743144 -1636.158325 22655.646936 1 # 23 -122.722380 35.737922 -1682.250854 23397.231402 1 # 24 -122.721647 35.735657 -1666.141571 23657.041254 1 # 25 -122.724753 35.735464 -1668.795319 23938.725906 1 # 26 -122.734429 35.725321 -1675.245667 25363.941832 1 # 27 -122.732424 35.722015 -1546.482544 25773.000565 1 # 28 -122.716942 35.738716 -1759.760620 28094.930107 1 # 29 -122.703522 35.732586 -1708.628662 29485.949693 1 # # A total of 259 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 29485.949693 #define MISSION_TIME 26156 #define MISSION_TIMEOUT 27000 #define DEPTH_MAX 2250.000000 #define DEPTH_ABORT 2300.000000 #define ALTITUDE_DESIRED 45.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 25.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 30 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 30.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #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; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 5598; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 29 # Segment length 80.830382 meters # Minimum depth: 1679.679018 meters looking forward 100.000000 meters along route # Maximum depth: 1708.628662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.679018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732586; longitude = -122.703522; captureRadius = 10; duration = 80; initialDepth = 1634.679018; finalDepth = 1634.679018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.949644 # Actual altitude: 73.949644 # Commanded vehicle depth:1634.679018 # Seafloor depth:-1708.628662 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.97; MB_Bottom_Detect_Filter_Max_Range = 177.48; MB_Bottom_Detect_Filter_Min_Depth = 36.97; MB_Bottom_Detect_Filter_Max_Depth = 177.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.200452 meters # Minimum depth: 1632.717645 meters looking forward 100.000000 meters along route # Maximum depth: 1664.846403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.717645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732942; longitude = -122.704302; captureRadius = 10; duration = 100; initialDepth = 1587.717645; finalDepth = 1634.679018; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1287580000001 # Actual altitude: 77.1287580000001 # Commanded vehicle depth:1587.717645 # Seafloor depth:-1664.846403 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.56; MB_Bottom_Detect_Filter_Max_Range = 185.11; MB_Bottom_Detect_Filter_Min_Depth = 38.56; MB_Bottom_Detect_Filter_Max_Depth = 185.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.200027 meters # Minimum depth: 1572.154642 meters looking forward 100.000000 meters along route # Maximum depth: 1610.616410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.154642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.705268; captureRadius = 10; duration = 100; initialDepth = 1527.154642; finalDepth = 1587.717645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4617680000001 # Actual altitude: 83.4617680000001 # Commanded vehicle depth:1527.154642 # Seafloor depth:-1610.616410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.73; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 41.73; MB_Bottom_Detect_Filter_Max_Depth = 200.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.199602 meters # Minimum depth: 1516.436147 meters looking forward 100.000000 meters along route # Maximum depth: 1550.985053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.436147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733825; longitude = -122.706235; captureRadius = 10; duration = 100; initialDepth = 1471.436147; finalDepth = 1527.154642; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.4617680000001 # Actual altitude: 83.4617680000001 # Commanded vehicle depth:1471.436147 # Seafloor depth:-1550.985053 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.73; MB_Bottom_Detect_Filter_Max_Range = 200.31; MB_Bottom_Detect_Filter_Min_Depth = 41.73; MB_Bottom_Detect_Filter_Max_Depth = 200.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.199178 meters # Minimum depth: 1517.369938 meters looking forward 100.000000 meters along route # Maximum depth: 1530.041511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.369938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734267; longitude = -122.707202; captureRadius = 10; duration = 100; initialDepth = 1472.369938; finalDepth = 1471.436147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.5489060000002 # Actual altitude: 79.5489060000002 # Commanded vehicle depth:1472.369938 # Seafloor depth:-1517.369938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.77; MB_Bottom_Detect_Filter_Max_Range = 190.92; MB_Bottom_Detect_Filter_Min_Depth = 39.77; MB_Bottom_Detect_Filter_Max_Depth = 190.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.198752 meters # Minimum depth: 1536.167987 meters looking forward 100.000000 meters along route # Maximum depth: 1554.437770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.167987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734708; longitude = -122.708168; captureRadius = 10; duration = 100; initialDepth = 1491.167987; finalDepth = 1472.369938; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1491.167987 # Seafloor depth:-1536.167987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.198327 meters # Minimum depth: 1564.359248 meters looking forward 100.000000 meters along route # Maximum depth: 1593.442915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.359248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735150; longitude = -122.709135; captureRadius = 10; duration = 100; initialDepth = 1519.359248; finalDepth = 1491.167987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1519.359248 # Seafloor depth:-1564.359248 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.197903 meters # Minimum depth: 1612.522686 meters looking forward 100.000000 meters along route # Maximum depth: 1644.030057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1567.522686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735592; longitude = -122.710102; captureRadius = 10; duration = 100; initialDepth = 1567.522686; finalDepth = 1519.359248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1567.522686 # Seafloor depth:-1612.522686 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.197478 meters # Minimum depth: 1673.770860 meters looking forward 100.000000 meters along route # Maximum depth: 1716.247756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.770860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736033; longitude = -122.711068; captureRadius = 10; duration = 100; initialDepth = 1628.770860; finalDepth = 1567.522686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1628.77086 # Seafloor depth:-1673.770860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.197052 meters # Minimum depth: 1718.260842 meters looking forward 100.000000 meters along route # Maximum depth: 1742.464377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.260842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736475; longitude = -122.712035; captureRadius = 10; duration = 100; initialDepth = 1673.260842; finalDepth = 1628.770860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1673.260842 # Seafloor depth:-1718.260842 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.196628 meters # Minimum depth: 1748.035684 meters looking forward 100.000000 meters along route # Maximum depth: 1768.714566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.035684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.713002; captureRadius = 10; duration = 100; initialDepth = 1703.035684; finalDepth = 1673.260842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1703.035684 # Seafloor depth:-1748.035684 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.196203 meters # Minimum depth: 1767.698050 meters looking forward 100.000000 meters along route # Maximum depth: 1772.822778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.698050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737358; longitude = -122.713969; captureRadius = 10; duration = 100; initialDepth = 1722.698050; finalDepth = 1703.035684; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1722.69805 # Seafloor depth:-1767.698050 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.027829 meters # Minimum depth: 1761.606920 meters looking forward 100.000000 meters along route # Maximum depth: 1767.314874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1716.606920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737799; longitude = -122.714935; captureRadius = 10; duration = 106; initialDepth = 1716.606920; finalDepth = 1722.698050; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3138840000001 # Actual altitude: 50 # Commanded vehicle depth:1716.60692 # Seafloor depth:-1765.920804 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 101.979773 meters # Minimum depth: 1767.714122 meters looking forward 100.000000 meters along route # Maximum depth: 1770.816488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.714122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738267; longitude = -122.715958; captureRadius = 10; duration = 101; initialDepth = 1722.714122; finalDepth = 1716.606920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3138840000001 # Actual altitude: 50 # Commanded vehicle depth:1722.714122 # Seafloor depth:-1767.714122 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 4.666426 meters # Minimum depth: 1759.760620 meters looking forward 100.000000 meters along route # Maximum depth: 1770.816488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.760620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738716; longitude = -122.716942; captureRadius = 10; duration = 4; initialDepth = 1714.760620; finalDepth = 1722.714122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1714.76062 # Seafloor depth:-1759.760620 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.774475 meters # Minimum depth: 1748.235883 meters looking forward 100.000000 meters along route # Maximum depth: 1766.331967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.235883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738682; longitude = -122.716973; captureRadius = 10; duration = 122; initialDepth = 1703.235883; finalDepth = 1714.760620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.096084 # Actual altitude: 63.096084 # Commanded vehicle depth:1703.235883 # Seafloor depth:-1766.331967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 151.43; MB_Bottom_Detect_Filter_Min_Depth = 31.55; MB_Bottom_Detect_Filter_Max_Depth = 151.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.774950 meters # Minimum depth: 1738.050350 meters looking forward 100.000000 meters along route # Maximum depth: 1747.491003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.050350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737799; longitude = -122.717792; captureRadius = 10; duration = 122; initialDepth = 1693.050350; finalDepth = 1703.235883; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.096084 # Actual altitude: 63.096084 # Commanded vehicle depth:1693.05035 # Seafloor depth:-1747.491003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 151.43; MB_Bottom_Detect_Filter_Min_Depth = 31.55; MB_Bottom_Detect_Filter_Max_Depth = 151.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 131.996545 meters # Minimum depth: 1738.054011 meters looking forward 100.000000 meters along route # Maximum depth: 1759.590699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.054011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.718610; captureRadius = 10; duration = 131; initialDepth = 1693.054011; finalDepth = 1693.050350; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4406530000001 # Actual altitude: 54.4406530000001 # Commanded vehicle depth:1693.054011 # Seafloor depth:-1738.054011 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.22; MB_Bottom_Detect_Filter_Max_Range = 130.66; MB_Bottom_Detect_Filter_Min_Depth = 27.22; MB_Bottom_Detect_Filter_Max_Depth = 130.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 132.442917 meters # Minimum depth: 1760.444610 meters looking forward 100.000000 meters along route # Maximum depth: 1763.560336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.444610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735967; longitude = -122.719491; captureRadius = 10; duration = 132; initialDepth = 1715.444610; finalDepth = 1693.054011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.360457 # Actual altitude: 50 # Commanded vehicle depth:1715.44461 # Seafloor depth:-1760.805067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 103.888242 meters # Minimum depth: 1756.804650 meters looking forward 100.000000 meters along route # Maximum depth: 1760.517856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.804650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735014; longitude = -122.720374; captureRadius = 10; duration = 103; initialDepth = 1711.804650; finalDepth = 1715.444610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7132059999999 # Actual altitude: 50 # Commanded vehicle depth:1711.80465 # Seafloor depth:-1760.517856 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.776853 meters # Minimum depth: 1727.205494 meters looking forward 100.000000 meters along route # Maximum depth: 1758.419952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.205494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734267; longitude = -122.721066; captureRadius = 10; duration = 122; initialDepth = 1682.205494; finalDepth = 1711.804650; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2144579999999 # Actual altitude: 76.2144579999999 # Commanded vehicle depth:1682.205494 # Seafloor depth:-1758.419952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 182.91; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 182.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.777328 meters # Minimum depth: 1682.852277 meters looking forward 100.000000 meters along route # Maximum depth: 1712.930755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.852277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.721885; captureRadius = 10; duration = 122; initialDepth = 1637.852277; finalDepth = 1682.205494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2144579999999 # Actual altitude: 76.2144579999999 # Commanded vehicle depth:1637.852277 # Seafloor depth:-1712.930755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 182.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 182.91; MB_Bottom_Detect_Filter_Min_Depth = 38.11; MB_Bottom_Detect_Filter_Max_Depth = 182.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.777804 meters # Minimum depth: 1618.539752 meters looking forward 100.000000 meters along route # Maximum depth: 1673.043549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.539752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.722704; captureRadius = 10; duration = 122; initialDepth = 1573.539752; finalDepth = 1637.852277; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.5037970000001 # Actual altitude: 99.5037970000001 # Commanded vehicle depth:1573.539752 # Seafloor depth:-1673.043549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.75; MB_Bottom_Detect_Filter_Max_Range = 238.81; MB_Bottom_Detect_Filter_Min_Depth = 49.75; MB_Bottom_Detect_Filter_Max_Depth = 238.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 123.779749 meters # Minimum depth: 1571.253134 meters looking forward 100.000000 meters along route # Maximum depth: 1614.313519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.253134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.723522; captureRadius = 10; duration = 123; initialDepth = 1526.253134; finalDepth = 1573.539752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.5037970000001 # Actual altitude: 99.5037970000001 # Commanded vehicle depth:1526.253134 # Seafloor depth:-1614.313519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 238.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 49.75; MB_Bottom_Detect_Filter_Max_Range = 238.81; MB_Bottom_Detect_Filter_Min_Depth = 49.75; MB_Bottom_Detect_Filter_Max_Depth = 238.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 132.445962 meters # Minimum depth: 1547.930126 meters looking forward 100.000000 meters along route # Maximum depth: 1570.952974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.930126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730727; longitude = -122.724348; captureRadius = 10; duration = 132; initialDepth = 1502.930126; finalDepth = 1526.253134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.060385 # Actual altitude: 88.060385 # Commanded vehicle depth:1502.930126 # Seafloor depth:-1570.952974 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.03; MB_Bottom_Detect_Filter_Max_Range = 211.34; MB_Bottom_Detect_Filter_Min_Depth = 44.03; MB_Bottom_Detect_Filter_Max_Depth = 211.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 132.446515 meters # Minimum depth: 1519.155768 meters looking forward 100.000000 meters along route # Maximum depth: 1543.604414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1474.155768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729775; longitude = -122.725231; captureRadius = 10; duration = 132; initialDepth = 1474.155768; finalDepth = 1502.930126; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4486459999998 # Actual altitude: 69.4486459999998 # Commanded vehicle depth:1474.155768 # Seafloor depth:-1543.604414 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 166.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 166.68; MB_Bottom_Detect_Filter_Min_Depth = 34.72; MB_Bottom_Detect_Filter_Max_Depth = 166.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 102.443749 meters # Minimum depth: 1501.135580 meters looking forward 100.000000 meters along route # Maximum depth: 1514.944980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.135580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728822; longitude = -122.726114; captureRadius = 10; duration = 102; initialDepth = 1456.135580; finalDepth = 1474.155768; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4486459999998 # Actual altitude: 69.4486459999998 # Commanded vehicle depth:1456.13558 # Seafloor depth:-1514.944980 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 166.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.72; MB_Bottom_Detect_Filter_Max_Range = 166.68; MB_Bottom_Detect_Filter_Min_Depth = 34.72; MB_Bottom_Detect_Filter_Max_Depth = 166.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.780183 meters # Minimum depth: 1482.393526 meters looking forward 100.000000 meters along route # Maximum depth: 1492.022744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1437.393526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.726797; captureRadius = 10; duration = 122; initialDepth = 1437.393526; finalDepth = 1456.135580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8094000000001 # Actual altitude: 58.8094000000001 # Commanded vehicle depth:1437.393526 # Seafloor depth:-1492.022744 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 141.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.40; MB_Bottom_Detect_Filter_Max_Range = 141.14; MB_Bottom_Detect_Filter_Min_Depth = 29.40; MB_Bottom_Detect_Filter_Max_Depth = 141.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.780658 meters # Minimum depth: 1484.509592 meters looking forward 100.000000 meters along route # Maximum depth: 1532.602800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.509592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.727616; captureRadius = 10; duration = 122; initialDepth = 1439.509592; finalDepth = 1437.393526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.629218 # Actual altitude: 54.629218 # Commanded vehicle depth:1439.509592 # Seafloor depth:-1484.509592 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.31; MB_Bottom_Detect_Filter_Max_Range = 131.11; MB_Bottom_Detect_Filter_Min_Depth = 27.31; MB_Bottom_Detect_Filter_Max_Depth = 131.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 122.781135 meters # Minimum depth: 1537.342621 meters looking forward 100.000000 meters along route # Maximum depth: 1571.547470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.342621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.728434; captureRadius = 10; duration = 122; initialDepth = 1492.342621; finalDepth = 1439.509592; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1492.342621 # Seafloor depth:-1537.342621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 125.230445 meters # Minimum depth: 1572.153355 meters looking forward 100.000000 meters along route # Maximum depth: 1583.363305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.153355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725436; longitude = -122.729253; captureRadius = 10; duration = 125; initialDepth = 1527.153355; finalDepth = 1492.342621; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.106205 # Actual altitude: 50 # Commanded vehicle depth:1527.153355 # Seafloor depth:-1573.259560 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 132.449560 meters # Minimum depth: 1530.438217 meters looking forward 100.000000 meters along route # Maximum depth: 1571.871493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.438217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724535; longitude = -122.730088; captureRadius = 10; duration = 132; initialDepth = 1485.438217; finalDepth = 1527.153355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4332760000002 # Actual altitude: 86.4332760000002 # Commanded vehicle depth:1485.438217 # Seafloor depth:-1571.871493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.22; MB_Bottom_Detect_Filter_Max_Range = 207.44; MB_Bottom_Detect_Filter_Min_Depth = 43.22; MB_Bottom_Detect_Filter_Max_Depth = 207.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 110.666254 meters # Minimum depth: 1529.160923 meters looking forward 100.000000 meters along route # Maximum depth: 1537.232645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.160923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723582; longitude = -122.730971; captureRadius = 10; duration = 110; initialDepth = 1484.160923; finalDepth = 1485.438217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.4332760000002 # Actual altitude: 86.4332760000002 # Commanded vehicle depth:1484.160923 # Seafloor depth:-1529.160923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.22; MB_Bottom_Detect_Filter_Max_Range = 207.44; MB_Bottom_Detect_Filter_Min_Depth = 43.22; MB_Bottom_Detect_Filter_Max_Depth = 207.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 107.249792 meters # Minimum depth: 1539.705975 meters looking forward 100.000000 meters along route # Maximum depth: 1551.217665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.705975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.731709; captureRadius = 10; duration = 107; initialDepth = 1494.705975; finalDepth = 1484.160923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1494.705975 # Seafloor depth:-1539.705975 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 40.811302 meters # Minimum depth: 1546.482544 meters looking forward 100.000000 meters along route # Maximum depth: 1551.217665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.482544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722015; longitude = -122.732424; captureRadius = 10; duration = 40; initialDepth = 1501.482544; finalDepth = 1494.705975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1501.482544 # Seafloor depth:-1546.482544 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 113.188278 meters # Minimum depth: 1537.413007 meters looking forward 100.000000 meters along route # Maximum depth: 1559.555395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.413007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.732624; captureRadius = 10; duration = 113; initialDepth = 1492.413007; finalDepth = 1501.482544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5696059999998 # Actual altitude: 50.5696059999998 # Commanded vehicle depth:1492.413007 # Seafloor depth:-1542.982613 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 121.37; MB_Bottom_Detect_Filter_Min_Depth = 25.28; MB_Bottom_Detect_Filter_Max_Depth = 121.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.351146 meters # Minimum depth: 1560.952898 meters looking forward 100.000000 meters along route # Maximum depth: 1598.735034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.952898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723260; longitude = -122.733179; captureRadius = 10; duration = 105; initialDepth = 1515.952898; finalDepth = 1492.413007; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5696059999998 # Actual altitude: 50.5696059999998 # Commanded vehicle depth:1515.952898 # Seafloor depth:-1560.952898 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 121.37; MB_Bottom_Detect_Filter_Min_Depth = 25.28; MB_Bottom_Detect_Filter_Max_Depth = 121.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 149.708007 meters # Minimum depth: 1604.973554 meters looking forward 100.000000 meters along route # Maximum depth: 1667.215102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.973554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724111; longitude = -122.733695; captureRadius = 10; duration = 149; initialDepth = 1559.973554; finalDepth = 1515.952898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1559.973554 # Seafloor depth:-1604.973554 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 78.167074 meters # Minimum depth: 1675.245667 meters looking forward 100.000000 meters along route # Maximum depth: 1683.150164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.245667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725321; longitude = -122.734429; captureRadius = 10; duration = 78; initialDepth = 1630.245667; finalDepth = 1559.973554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1630.245667 # Seafloor depth:-1675.245667 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 124.090585 meters # Minimum depth: 1665.266580 meters looking forward 100.000000 meters along route # Maximum depth: 1673.135756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.266580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725877; longitude = -122.733898; captureRadius = 10; duration = 124; initialDepth = 1620.266580; finalDepth = 1630.245667; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8691759999999 # Actual altitude: 52.8691759999999 # Commanded vehicle depth:1620.26658 # Seafloor depth:-1673.135756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 126.89; MB_Bottom_Detect_Filter_Min_Depth = 26.43; MB_Bottom_Detect_Filter_Max_Depth = 126.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 124.090085 meters # Minimum depth: 1660.621734 meters looking forward 100.000000 meters along route # Maximum depth: 1667.657654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.621734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726760; longitude = -122.733056; captureRadius = 10; duration = 124; initialDepth = 1615.621734; finalDepth = 1620.266580; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8691759999999 # Actual altitude: 52.8691759999999 # Commanded vehicle depth:1615.621734 # Seafloor depth:-1667.657654 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 126.89; MB_Bottom_Detect_Filter_Min_Depth = 26.43; MB_Bottom_Detect_Filter_Max_Depth = 126.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 124.089586 meters # Minimum depth: 1657.241245 meters looking forward 100.000000 meters along route # Maximum depth: 1659.852945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.241245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727644; longitude = -122.732213; captureRadius = 10; duration = 124; initialDepth = 1612.241245; finalDepth = 1615.621734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.03592 # Actual altitude: 52.03592 # Commanded vehicle depth:1612.241245 # Seafloor depth:-1659.852945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 124.89; MB_Bottom_Detect_Filter_Min_Depth = 26.02; MB_Bottom_Detect_Filter_Max_Depth = 124.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 124.089087 meters # Minimum depth: 1658.650387 meters looking forward 100.000000 meters along route # Maximum depth: 1674.105376 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.650387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728527; longitude = -122.731371; captureRadius = 10; duration = 124; initialDepth = 1613.650387; finalDepth = 1612.241245; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6117000000002 # Actual altitude: 50 # Commanded vehicle depth:1613.650387 # Seafloor depth:-1658.650387 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 129.933738 meters # Minimum depth: 1674.141603 meters looking forward 100.000000 meters along route # Maximum depth: 1680.526746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.141603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729410; longitude = -122.730529; captureRadius = 10; duration = 129; initialDepth = 1629.141603; finalDepth = 1613.650387; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1629.141603 # Seafloor depth:-1674.141603 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 130.077007 meters # Minimum depth: 1643.481390 meters looking forward 100.000000 meters along route # Maximum depth: 1677.970593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.481390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730334; longitude = -122.729646; captureRadius = 10; duration = 130; initialDepth = 1598.481390; finalDepth = 1629.141603; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4892030000001 # Actual altitude: 79.4892030000001 # Commanded vehicle depth:1598.48139 # Seafloor depth:-1677.970593 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.74; MB_Bottom_Detect_Filter_Max_Range = 190.77; MB_Bottom_Detect_Filter_Min_Depth = 39.74; MB_Bottom_Detect_Filter_Max_Depth = 190.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 130.076458 meters # Minimum depth: 1616.023086 meters looking forward 100.000000 meters along route # Maximum depth: 1640.145157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.023086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731260; longitude = -122.728763; captureRadius = 10; duration = 130; initialDepth = 1571.023086; finalDepth = 1598.481390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.4892030000001 # Actual altitude: 79.4892030000001 # Commanded vehicle depth:1571.023086 # Seafloor depth:-1640.145157 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.74; MB_Bottom_Detect_Filter_Max_Range = 190.77; MB_Bottom_Detect_Filter_Min_Depth = 39.74; MB_Bottom_Detect_Filter_Max_Depth = 190.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 130.075910 meters # Minimum depth: 1614.202928 meters looking forward 100.000000 meters along route # Maximum depth: 1616.157340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.202928 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732186; longitude = -122.727880; captureRadius = 10; duration = 130; initialDepth = 1569.202928; finalDepth = 1571.023086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.122071 # Actual altitude: 69.122071 # Commanded vehicle depth:1569.202928 # Seafloor depth:-1616.157340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 165.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.56; MB_Bottom_Detect_Filter_Max_Range = 165.89; MB_Bottom_Detect_Filter_Min_Depth = 34.56; MB_Bottom_Detect_Filter_Max_Depth = 165.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 100.274831 meters # Minimum depth: 1610.638004 meters looking forward 100.000000 meters along route # Maximum depth: 1614.752950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.638004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733112; longitude = -122.726997; captureRadius = 10; duration = 100; initialDepth = 1565.638004; finalDepth = 1569.202928; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9674930000001 # Actual altitude: 50 # Commanded vehicle depth:1565.638004 # Seafloor depth:-1613.605497 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 124.086091 meters # Minimum depth: 1621.077782 meters looking forward 100.000000 meters along route # Maximum depth: 1642.856621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.077782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733825; longitude = -122.726316; captureRadius = 10; duration = 124; initialDepth = 1576.077782; finalDepth = 1565.638004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9674930000001 # Actual altitude: 50 # Commanded vehicle depth:1576.077782 # Seafloor depth:-1621.077782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 106.165474 meters # Minimum depth: 1648.269930 meters looking forward 100.000000 meters along route # Maximum depth: 1667.419397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.269930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734708; longitude = -122.725474; captureRadius = 10; duration = 106; initialDepth = 1603.269930; finalDepth = 1576.077782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1603.26993 # Seafloor depth:-1648.269930 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 36.757661 meters # Minimum depth: 1658.725109 meters looking forward 100.000000 meters along route # Maximum depth: 1668.795319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.725109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735464; longitude = -122.724753; captureRadius = 10; duration = 36; initialDepth = 1613.725109; finalDepth = 1603.269930; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0702100000001 # Actual altitude: 55.0702100000001 # Commanded vehicle depth:1613.725109 # Seafloor depth:-1668.795319 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 132.17; MB_Bottom_Detect_Filter_Min_Depth = 27.54; MB_Bottom_Detect_Filter_Max_Depth = 132.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 120.135034 meters # Minimum depth: 1679.433852 meters looking forward 100.000000 meters along route # Maximum depth: 1729.522338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.433852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735489; longitude = -122.724348; captureRadius = 10; duration = 120; initialDepth = 1634.433852; finalDepth = 1613.725109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.0702100000001 # Actual altitude: 55.0702100000001 # Commanded vehicle depth:1634.433852 # Seafloor depth:-1679.433852 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 132.17; MB_Bottom_Detect_Filter_Min_Depth = 27.54; MB_Bottom_Detect_Filter_Max_Depth = 132.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 124.791957 meters # Minimum depth: 1663.298820 meters looking forward 100.000000 meters along route # Maximum depth: 1725.884502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.298820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735571; longitude = -122.723023; captureRadius = 10; duration = 124; initialDepth = 1618.298820; finalDepth = 1634.433852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.585682 # Actual altitude: 100 # Commanded vehicle depth:1618.29882 # Seafloor depth:-1725.884502 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 43.140384 meters # Minimum depth: 1662.230752 meters looking forward 100.000000 meters along route # Maximum depth: 1686.757556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.230752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735657; longitude = -122.721647; captureRadius = 10; duration = 43; initialDepth = 1617.230752; finalDepth = 1618.298820; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.585682 # Actual altitude: 100 # Commanded vehicle depth:1617.230752 # Seafloor depth:-1666.141571 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.298737 meters # Minimum depth: 1664.020679 meters looking forward 100.000000 meters along route # Maximum depth: 1679.381684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.020679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736033; longitude = -122.721769; captureRadius = 10; duration = 101; initialDepth = 1619.020679; finalDepth = 1617.230752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9108190000002 # Actual altitude: 50 # Commanded vehicle depth:1619.020679 # Seafloor depth:-1664.020679 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 115.370731 meters # Minimum depth: 1688.958480 meters looking forward 100.000000 meters along route # Maximum depth: 1712.651414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.958480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.722055; captureRadius = 10; duration = 115; initialDepth = 1643.958480; finalDepth = 1619.020679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.578671 # Actual altitude: 54.578671 # Commanded vehicle depth:1643.95848 # Seafloor depth:-1698.537151 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 130.99; MB_Bottom_Detect_Filter_Min_Depth = 27.29; MB_Bottom_Detect_Filter_Max_Depth = 130.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 107.991635 meters # Minimum depth: 1641.487836 meters looking forward 100.000000 meters along route # Maximum depth: 1682.250854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.487836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737922; longitude = -122.722380; captureRadius = 10; duration = 107; initialDepth = 1596.487836; finalDepth = 1643.958480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7630179999999 # Actual altitude: 85.7630179999999 # Commanded vehicle depth:1596.487836 # Seafloor depth:-1682.250854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.88; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 42.88; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 125.413178 meters # Minimum depth: 1617.024651 meters looking forward 100.000000 meters along route # Maximum depth: 1636.826340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.024651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738682; longitude = -122.721634; captureRadius = 10; duration = 125; initialDepth = 1572.024651; finalDepth = 1596.487836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7630179999999 # Actual altitude: 85.7630179999999 # Commanded vehicle depth:1572.024651 # Seafloor depth:-1636.826340 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.88; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 42.88; MB_Bottom_Detect_Filter_Max_Depth = 205.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 125.412656 meters # Minimum depth: 1567.815903 meters looking forward 100.000000 meters along route # Maximum depth: 1624.080976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.815903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739566; longitude = -122.720768; captureRadius = 10; duration = 125; initialDepth = 1522.815903; finalDepth = 1572.024651; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.265073 # Actual altitude: 100 # Commanded vehicle depth:1522.815903 # Seafloor depth:-1624.080976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 125.412132 meters # Minimum depth: 1567.735738 meters looking forward 100.000000 meters along route # Maximum depth: 1577.944641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.735738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740449; longitude = -122.719902; captureRadius = 10; duration = 125; initialDepth = 1522.735738; finalDepth = 1522.815903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.265073 # Actual altitude: 100 # Commanded vehicle depth:1522.735738 # Seafloor depth:-1567.735738 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 125.907105 meters # Minimum depth: 1578.164895 meters looking forward 100.000000 meters along route # Maximum depth: 1606.064655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.164895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741332; longitude = -122.719036; captureRadius = 10; duration = 125; initialDepth = 1533.164895; finalDepth = 1522.735738; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1533.164895 # Seafloor depth:-1578.164895 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 131.447760 meters # Minimum depth: 1606.156148 meters looking forward 100.000000 meters along route # Maximum depth: 1631.527396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.156148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742218; longitude = -122.718166; captureRadius = 10; duration = 131; initialDepth = 1561.156148; finalDepth = 1533.164895; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1561.156148 # Seafloor depth:-1606.156148 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 38.535753 meters # Minimum depth: 1631.071889 meters looking forward 100.000000 meters along route # Maximum depth: 1647.736999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1586.071889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743144; longitude = -122.717258; captureRadius = 10; duration = 38; initialDepth = 1586.071889; finalDepth = 1561.156148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.086436 # Actual altitude: 50.086436 # Commanded vehicle depth:1586.071889 # Seafloor depth:-1636.158325 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.21; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.482070 meters # Minimum depth: 1656.252899 meters looking forward 100.000000 meters along route # Maximum depth: 1696.784977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.252899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.743071; longitude = -122.716841; captureRadius = 10; duration = 122; initialDepth = 1611.252899; finalDepth = 1586.071889; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.086436 # Actual altitude: 50.086436 # Commanded vehicle depth:1611.252899 # Seafloor depth:-1656.252899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 120.21; MB_Bottom_Detect_Filter_Min_Depth = 25.04; MB_Bottom_Detect_Filter_Max_Depth = 120.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.482416 meters # Minimum depth: 1717.945434 meters looking forward 100.000000 meters along route # Maximum depth: 1756.455697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.945434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742841; longitude = -122.715517; captureRadius = 10; duration = 122; initialDepth = 1672.945434; finalDepth = 1611.252899; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1672.945434 # Seafloor depth:-1717.945434 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.482764 meters # Minimum depth: 1764.087708 meters looking forward 100.000000 meters along route # Maximum depth: 1769.664720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.087708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742610; longitude = -122.714192; captureRadius = 10; duration = 122; initialDepth = 1719.087708; finalDepth = 1672.945434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1719.087708 # Seafloor depth:-1764.087708 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.483112 meters # Minimum depth: 1766.146723 meters looking forward 100.000000 meters along route # Maximum depth: 1770.991705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.146723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742379; longitude = -122.712867; captureRadius = 10; duration = 122; initialDepth = 1721.146723; finalDepth = 1719.087708; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8449819999998 # Actual altitude: 50 # Commanded vehicle depth:1721.146723 # Seafloor depth:-1770.991705 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 121.547296 meters # Minimum depth: 1755.028501 meters looking forward 100.000000 meters along route # Maximum depth: 1770.242026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.028501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.742148; longitude = -122.711543; captureRadius = 10; duration = 121; initialDepth = 1710.028501; finalDepth = 1721.146723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2135249999999 # Actual altitude: 60.2135249999999 # Commanded vehicle depth:1710.028501 # Seafloor depth:-1770.242026 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 144.51; MB_Bottom_Detect_Filter_Min_Depth = 30.11; MB_Bottom_Detect_Filter_Max_Depth = 144.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 51.855493 meters # Minimum depth: 1729.371884 meters looking forward 100.000000 meters along route # Maximum depth: 1755.028501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1684.371884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741919; longitude = -122.710228; captureRadius = 10; duration = 51; initialDepth = 1684.371884; finalDepth = 1710.028501; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.976566 # Actual altitude: 65.976566 # Commanded vehicle depth:1684.371884 # Seafloor depth:-1750.348450 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 158.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.99; MB_Bottom_Detect_Filter_Max_Range = 158.34; MB_Bottom_Detect_Filter_Min_Depth = 32.99; MB_Bottom_Detect_Filter_Max_Depth = 158.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 141.821909 meters # Minimum depth: 1650.418293 meters looking forward 100.000000 meters along route # Maximum depth: 1715.044438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.418293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741631; longitude = -122.709776; captureRadius = 10; duration = 141; initialDepth = 1605.418293; finalDepth = 1684.371884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.626145 # Actual altitude: 100 # Commanded vehicle depth:1605.418293 # Seafloor depth:-1715.044438 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 54.126343 meters # Minimum depth: 1642.041422 meters looking forward 100.000000 meters along route # Maximum depth: 1669.480047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.041422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740843; longitude = -122.708541; captureRadius = 10; duration = 54; initialDepth = 1597.041422; finalDepth = 1605.418293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.626145 # Actual altitude: 100 # Commanded vehicle depth:1597.041422 # Seafloor depth:-1642.854736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 135.478723 meters # Minimum depth: 1639.419682 meters looking forward 100.000000 meters along route # Maximum depth: 1642.035859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.419682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740449; longitude = -122.708894; captureRadius = 10; duration = 135; initialDepth = 1594.419682; finalDepth = 1597.041422; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6161770000001 # Actual altitude: 50 # Commanded vehicle depth:1594.419682 # Seafloor depth:-1642.035859 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 106.952168 meters # Minimum depth: 1641.049267 meters looking forward 100.000000 meters along route # Maximum depth: 1649.265952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.049267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739462; longitude = -122.709776; captureRadius = 10; duration = 106; initialDepth = 1596.049267; finalDepth = 1594.419682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6161770000001 # Actual altitude: 50 # Commanded vehicle depth:1596.049267 # Seafloor depth:-1641.049267 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 121.216117 meters # Minimum depth: 1654.694241 meters looking forward 100.000000 meters along route # Maximum depth: 1673.031130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.694241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738682; longitude = -122.710473; captureRadius = 10; duration = 121; initialDepth = 1609.694241; finalDepth = 1596.049267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1609.694241 # Seafloor depth:-1654.694241 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 121.216564 meters # Minimum depth: 1679.913683 meters looking forward 100.000000 meters along route # Maximum depth: 1710.994214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.913683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737799; longitude = -122.711263; captureRadius = 10; duration = 121; initialDepth = 1634.913683; finalDepth = 1609.694241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1634.913683 # Seafloor depth:-1679.913683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 125.031808 meters # Minimum depth: 1713.938371 meters looking forward 100.000000 meters along route # Maximum depth: 1751.648987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.938371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.712053; captureRadius = 10; duration = 125; initialDepth = 1668.938371; finalDepth = 1634.913683; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1668.938371 # Seafloor depth:-1713.938371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 135.548875 meters # Minimum depth: 1745.044011 meters looking forward 100.000000 meters along route # Maximum depth: 1761.666607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.044011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736005; longitude = -122.712867; captureRadius = 10; duration = 135; initialDepth = 1700.044011; finalDepth = 1668.938371; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8522950000001 # Actual altitude: 51.8522950000001 # Commanded vehicle depth:1700.044011 # Seafloor depth:-1751.896306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 124.45; MB_Bottom_Detect_Filter_Min_Depth = 25.93; MB_Bottom_Detect_Filter_Max_Depth = 124.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 103.071693 meters # Minimum depth: 1721.132911 meters looking forward 100.000000 meters along route # Maximum depth: 1738.714214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.132911 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735018; longitude = -122.713750; captureRadius = 10; duration = 103; initialDepth = 1676.132911; finalDepth = 1700.044011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5813030000002 # Actual altitude: 62.5813030000002 # Commanded vehicle depth:1676.132911 # Seafloor depth:-1738.714214 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 150.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.29; MB_Bottom_Detect_Filter_Max_Range = 150.20; MB_Bottom_Detect_Filter_Min_Depth = 31.29; MB_Bottom_Detect_Filter_Max_Depth = 150.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 121.218354 meters # Minimum depth: 1698.797898 meters looking forward 100.000000 meters along route # Maximum depth: 1717.627941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.797898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734267; longitude = -122.714422; captureRadius = 10; duration = 121; initialDepth = 1653.797898; finalDepth = 1676.132911; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.8300429999999 # Actual altitude: 63.8300429999999 # Commanded vehicle depth:1653.797898 # Seafloor depth:-1717.627941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 153.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 153.19; MB_Bottom_Detect_Filter_Min_Depth = 31.92; MB_Bottom_Detect_Filter_Max_Depth = 153.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 109.501997 meters # Minimum depth: 1709.493102 meters looking forward 100.000000 meters along route # Maximum depth: 1722.575569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.493102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.715212; captureRadius = 10; duration = 109; initialDepth = 1664.493102; finalDepth = 1653.797898; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.8300429999999 # Actual altitude: 63.8300429999999 # Commanded vehicle depth:1664.493102 # Seafloor depth:-1709.493102 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 153.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 153.19; MB_Bottom_Detect_Filter_Min_Depth = 31.92; MB_Bottom_Detect_Filter_Max_Depth = 153.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 44.743970 meters # Minimum depth: 1722.575569 meters looking forward 100.000000 meters along route # Maximum depth: 1732.348091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.575569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732586; longitude = -122.715925; captureRadius = 10; duration = 44; initialDepth = 1677.575569; finalDepth = 1664.493102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7596669999998 # Actual altitude: 50.7596669999998 # Commanded vehicle depth:1677.575569 # Seafloor depth:-1728.335236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 121.82; MB_Bottom_Detect_Filter_Min_Depth = 25.38; MB_Bottom_Detect_Filter_Max_Depth = 121.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 124.868146 meters # Minimum depth: 1706.945828 meters looking forward 100.000000 meters along route # Maximum depth: 1730.930858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.945828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732472; longitude = -122.716400; captureRadius = 10; duration = 124; initialDepth = 1661.945828; finalDepth = 1677.575569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9850300000001 # Actual altitude: 68.9850300000001 # Commanded vehicle depth:1661.945828 # Seafloor depth:-1730.930858 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 165.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.49; MB_Bottom_Detect_Filter_Max_Range = 165.56; MB_Bottom_Detect_Filter_Min_Depth = 34.49; MB_Bottom_Detect_Filter_Max_Depth = 165.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 113.744450 meters # Minimum depth: 1684.865980 meters looking forward 100.000000 meters along route # Maximum depth: 1693.427358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.865980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732154; longitude = -122.717724; captureRadius = 10; duration = 113; initialDepth = 1639.865980; finalDepth = 1661.945828; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.9850300000001 # Actual altitude: 68.9850300000001 # Commanded vehicle depth:1639.86598 # Seafloor depth:-1693.427358 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 165.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.49; MB_Bottom_Detect_Filter_Max_Range = 165.56; MB_Bottom_Detect_Filter_Min_Depth = 34.49; MB_Bottom_Detect_Filter_Max_Depth = 165.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 91.881127 meters # Minimum depth: 1624.370522 meters looking forward 100.000000 meters along route # Maximum depth: 1669.840271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.370522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731865; longitude = -122.718931; captureRadius = 10; duration = 91; initialDepth = 1579.370522; finalDepth = 1639.865980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.4697490000001 # Actual altitude: 90.4697490000001 # Commanded vehicle depth:1579.370522 # Seafloor depth:-1669.840271 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.23; MB_Bottom_Detect_Filter_Max_Range = 217.13; MB_Bottom_Detect_Filter_Min_Depth = 45.23; MB_Bottom_Detect_Filter_Max_Depth = 217.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 143.119342 meters # Minimum depth: 1600.549355 meters looking forward 100.000000 meters along route # Maximum depth: 1624.237304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.549355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731176; longitude = -122.719495; captureRadius = 10; duration = 143; initialDepth = 1555.549355; finalDepth = 1579.370522; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.4697490000001 # Actual altitude: 90.4697490000001 # Commanded vehicle depth:1555.549355 # Seafloor depth:-1624.237304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.23; MB_Bottom_Detect_Filter_Max_Range = 217.13; MB_Bottom_Detect_Filter_Min_Depth = 45.23; MB_Bottom_Detect_Filter_Max_Depth = 217.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.773495 meters # Minimum depth: 1575.238012 meters looking forward 100.000000 meters along route # Maximum depth: 1581.009786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.238012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730103; longitude = -122.720374; captureRadius = 10; duration = 112; initialDepth = 1530.238012; finalDepth = 1555.549355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6879489999999 # Actual altitude: 68.6879489999999 # Commanded vehicle depth:1530.238012 # Seafloor depth:-1581.009786 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 164.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 164.85; MB_Bottom_Detect_Filter_Min_Depth = 34.34; MB_Bottom_Detect_Filter_Max_Depth = 164.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 32.094886 meters # Minimum depth: 1565.407745 meters looking forward 100.000000 meters along route # Maximum depth: 1580.556430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.407745 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729257; longitude = -122.721066; captureRadius = 10; duration = 32; initialDepth = 1520.407745; finalDepth = 1530.238012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7717740000001 # Actual altitude: 50.7717740000001 # Commanded vehicle depth:1520.407745 # Seafloor depth:-1565.407745 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 121.85; MB_Bottom_Detect_Filter_Min_Depth = 25.39; MB_Bottom_Detect_Filter_Max_Depth = 121.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 147.205868 meters # Minimum depth: 1493.369299 meters looking forward 100.000000 meters along route # Maximum depth: 1550.824247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.369299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728968; longitude = -122.721044; captureRadius = 10; duration = 147; initialDepth = 1448.369299; finalDepth = 1520.407745; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.454948 # Actual altitude: 100 # Commanded vehicle depth:1448.369299 # Seafloor depth:-1550.824247 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 147.205845 meters # Minimum depth: 1424.295478 meters looking forward 100.000000 meters along route # Maximum depth: 1467.540569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.295478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727644; longitude = -122.720942; captureRadius = 10; duration = 147; initialDepth = 1379.295478; finalDepth = 1448.369299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.454948 # Actual altitude: 100 # Commanded vehicle depth:1379.295478 # Seafloor depth:-1467.540569 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.886673 meters # Minimum depth: 1348.084554 meters looking forward 100.000000 meters along route # Maximum depth: 1396.615717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.084554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.720841; captureRadius = 10; duration = 108; initialDepth = 1303.084554; finalDepth = 1379.295478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5311629999999 # Actual altitude: 93.5311629999999 # Commanded vehicle depth:1303.084554 # Seafloor depth:-1396.615717 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.77; MB_Bottom_Detect_Filter_Max_Range = 224.47; MB_Bottom_Detect_Filter_Min_Depth = 46.77; MB_Bottom_Detect_Filter_Max_Depth = 224.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 55.413268 meters # Minimum depth: 1334.204760 meters looking forward 100.000000 meters along route # Maximum depth: 1348.084554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1289.204760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725339; longitude = -122.720766; captureRadius = 10; duration = 55; initialDepth = 1289.204760; finalDepth = 1303.084554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5311629999999 # Actual altitude: 93.5311629999999 # Commanded vehicle depth:1289.20476 # Seafloor depth:-1342.569580 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.77; MB_Bottom_Detect_Filter_Max_Range = 224.47; MB_Bottom_Detect_Filter_Min_Depth = 46.77; MB_Bottom_Detect_Filter_Max_Depth = 224.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 124.736051 meters # Minimum depth: 1333.986533 meters looking forward 100.000000 meters along route # Maximum depth: 1390.952939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1288.986533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724955; longitude = -122.720374; captureRadius = 10; duration = 124; initialDepth = 1288.986533; finalDepth = 1289.204760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.36482 # Actual altitude: 53.36482 # Commanded vehicle depth:1288.986533 # Seafloor depth:-1333.986533 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 128.08; MB_Bottom_Detect_Filter_Min_Depth = 26.68; MB_Bottom_Detect_Filter_Max_Depth = 128.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 124.736599 meters # Minimum depth: 1392.069854 meters looking forward 100.000000 meters along route # Maximum depth: 1452.671705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1347.069854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724091; longitude = -122.719491; captureRadius = 10; duration = 124; initialDepth = 1347.069854; finalDepth = 1288.986533; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1347.069854 # Seafloor depth:-1392.069854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 127.449973 meters # Minimum depth: 1452.703502 meters looking forward 100.000000 meters along route # Maximum depth: 1511.386001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.703502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723227; longitude = -122.718607; captureRadius = 10; duration = 127; initialDepth = 1407.703502; finalDepth = 1347.069854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1407.703502 # Seafloor depth:-1452.703502 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 127.516475 meters # Minimum depth: 1512.352121 meters looking forward 100.000000 meters along route # Maximum depth: 1535.361762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.352121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.717705; captureRadius = 10; duration = 127; initialDepth = 1467.352121; finalDepth = 1407.703502; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1467.352121 # Seafloor depth:-1512.352121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 127.517048 meters # Minimum depth: 1535.172880 meters looking forward 100.000000 meters along route # Maximum depth: 1539.297815 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.172880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.716802; captureRadius = 10; duration = 127; initialDepth = 1490.172880; finalDepth = 1467.352121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1490.17288 # Seafloor depth:-1535.172880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 127.517620 meters # Minimum depth: 1535.491572 meters looking forward 100.000000 meters along route # Maximum depth: 1560.209929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.491572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.715900; captureRadius = 10; duration = 127; initialDepth = 1490.491572; finalDepth = 1490.172880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1490.491572 # Seafloor depth:-1535.491572 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 124.973996 meters # Minimum depth: 1565.924451 meters looking forward 100.000000 meters along route # Maximum depth: 1632.574845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.924451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.714997; captureRadius = 10; duration = 124; initialDepth = 1520.924451; finalDepth = 1490.491572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1520.924451 # Seafloor depth:-1565.924451 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 12.155061 meters # Minimum depth: 1595.495068 meters looking forward 100.000000 meters along route # Maximum depth: 1639.871291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.495068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718830; longitude = -122.714112; captureRadius = 10; duration = 12; initialDepth = 1550.495068; finalDepth = 1520.924451; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6049990000001 # Actual altitude: 80.6049990000001 # Commanded vehicle depth:1550.495068 # Seafloor depth:-1631.100067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.30; MB_Bottom_Detect_Filter_Max_Range = 193.45; MB_Bottom_Detect_Filter_Min_Depth = 40.30; MB_Bottom_Detect_Filter_Max_Depth = 193.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 112.078248 meters # Minimum depth: 1643.836309 meters looking forward 100.000000 meters along route # Maximum depth: 1672.154194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.836309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718742; longitude = -122.714192; captureRadius = 10; duration = 112; initialDepth = 1598.836309; finalDepth = 1550.495068; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6049990000001 # Actual altitude: 80.6049990000001 # Commanded vehicle depth:1598.836309 # Seafloor depth:-1643.836309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.30; MB_Bottom_Detect_Filter_Max_Range = 193.45; MB_Bottom_Detect_Filter_Min_Depth = 40.30; MB_Bottom_Detect_Filter_Max_Depth = 193.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.803604 meters # Minimum depth: 1690.064832 meters looking forward 100.000000 meters along route # Maximum depth: 1701.997073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.064832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.714928; captureRadius = 10; duration = 121; initialDepth = 1645.064832; finalDepth = 1598.836309; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1645.064832 # Seafloor depth:-1690.064832 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.804061 meters # Minimum depth: 1705.858186 meters looking forward 100.000000 meters along route # Maximum depth: 1737.075988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.858186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.715729; captureRadius = 10; duration = 121; initialDepth = 1660.858186; finalDepth = 1645.064832; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1660.858186 # Seafloor depth:-1705.858186 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.804520 meters # Minimum depth: 1724.305532 meters looking forward 100.000000 meters along route # Maximum depth: 1733.023614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.305532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.716530; captureRadius = 10; duration = 121; initialDepth = 1679.305532; finalDepth = 1660.858186; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7180819999999 # Actual altitude: 53.7180819999999 # Commanded vehicle depth:1679.305532 # Seafloor depth:-1733.023614 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 128.92; MB_Bottom_Detect_Filter_Min_Depth = 26.86; MB_Bottom_Detect_Filter_Max_Depth = 128.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 127.180325 meters # Minimum depth: 1723.581665 meters looking forward 100.000000 meters along route # Maximum depth: 1726.903415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.581665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.717330; captureRadius = 10; duration = 127; initialDepth = 1678.581665; finalDepth = 1679.305532; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.7180819999999 # Actual altitude: 53.7180819999999 # Commanded vehicle depth:1678.581665 # Seafloor depth:-1723.890862 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 128.92; MB_Bottom_Detect_Filter_Min_Depth = 26.86; MB_Bottom_Detect_Filter_Max_Depth = 128.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 134.372811 meters # Minimum depth: 1727.231197 meters looking forward 100.000000 meters along route # Maximum depth: 1738.079418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.231197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714358; longitude = -122.718166; captureRadius = 10; duration = 134; initialDepth = 1682.231197; finalDepth = 1678.581665; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.309197 # Actual altitude: 50 # Commanded vehicle depth:1682.231197 # Seafloor depth:-1727.231197 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 103.863169 meters # Minimum depth: 1743.030556 meters looking forward 100.000000 meters along route # Maximum depth: 1752.090786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.030556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713384; longitude = -122.719049; captureRadius = 10; duration = 103; initialDepth = 1698.030556; finalDepth = 1682.231197; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1698.030556 # Seafloor depth:-1743.030556 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.806351 meters # Minimum depth: 1738.318548 meters looking forward 100.000000 meters along route # Maximum depth: 1758.660923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.318548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712631; longitude = -122.719732; captureRadius = 10; duration = 121; initialDepth = 1693.318548; finalDepth = 1698.030556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3423749999999 # Actual altitude: 65.3423749999999 # Commanded vehicle depth:1693.318548 # Seafloor depth:-1758.660923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 156.82; MB_Bottom_Detect_Filter_Min_Depth = 32.67; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 121.806808 meters # Minimum depth: 1724.006373 meters looking forward 100.000000 meters along route # Maximum depth: 1740.826863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.006373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.720532; captureRadius = 10; duration = 121; initialDepth = 1679.006373; finalDepth = 1693.318548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.3423749999999 # Actual altitude: 65.3423749999999 # Commanded vehicle depth:1679.006373 # Seafloor depth:-1734.614611 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.67; MB_Bottom_Detect_Filter_Max_Range = 156.82; MB_Bottom_Detect_Filter_Min_Depth = 32.67; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.832900 meters # Minimum depth: 1721.104246 meters looking forward 100.000000 meters along route # Maximum depth: 1731.249823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.104246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710864; longitude = -122.721333; captureRadius = 10; duration = 122; initialDepth = 1676.104246; finalDepth = 1679.006373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.608238 # Actual altitude: 55.608238 # Commanded vehicle depth:1676.104246 # Seafloor depth:-1721.104246 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 133.46; MB_Bottom_Detect_Filter_Min_Depth = 27.80; MB_Bottom_Detect_Filter_Max_Depth = 133.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 134.375319 meters # Minimum depth: 1712.957989 meters looking forward 100.000000 meters along route # Maximum depth: 1731.115803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1667.957989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709974; longitude = -122.722140; captureRadius = 10; duration = 134; initialDepth = 1667.957989; finalDepth = 1676.104246; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1578139999999 # Actual altitude: 63.1578139999999 # Commanded vehicle depth:1667.957989 # Seafloor depth:-1731.115803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 151.58; MB_Bottom_Detect_Filter_Min_Depth = 31.58; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 105.596804 meters # Minimum depth: 1693.942739 meters looking forward 100.000000 meters along route # Maximum depth: 1709.274654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.942739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709000; longitude = -122.723023; captureRadius = 10; duration = 105; initialDepth = 1648.942739; finalDepth = 1667.957989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1578139999999 # Actual altitude: 63.1578139999999 # Commanded vehicle depth:1648.942739 # Seafloor depth:-1709.274654 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.58; MB_Bottom_Detect_Filter_Max_Range = 151.58; MB_Bottom_Detect_Filter_Min_Depth = 31.58; MB_Bottom_Detect_Filter_Max_Depth = 151.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 77.109042 meters # Minimum depth: 1637.699381 meters looking forward 100.000000 meters along route # Maximum depth: 1684.002838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.699381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708234; longitude = -122.723717; captureRadius = 10; duration = 77; initialDepth = 1592.699381; finalDepth = 1648.942739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3034570000002 # Actual altitude: 91.3034570000002 # Commanded vehicle depth:1592.699381 # Seafloor depth:-1684.002838 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.65; MB_Bottom_Detect_Filter_Max_Range = 219.13; MB_Bottom_Detect_Filter_Min_Depth = 45.65; MB_Bottom_Detect_Filter_Max_Depth = 219.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 102.992560 meters # Minimum depth: 1587.061675 meters looking forward 100.000000 meters along route # Maximum depth: 1633.422648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.061675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.724394; captureRadius = 10; duration = 102; initialDepth = 1542.061675; finalDepth = 1592.699381; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3609730000001 # Actual altitude: 91.3609730000001 # Commanded vehicle depth:1542.061675 # Seafloor depth:-1633.422648 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.68; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 45.68; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 104.736207 meters # Minimum depth: 1572.891693 meters looking forward 100.000000 meters along route # Maximum depth: 1584.427062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.891693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709221; longitude = -122.725298; captureRadius = 10; duration = 104; initialDepth = 1527.891693; finalDepth = 1542.061675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.3609730000001 # Actual altitude: 91.3609730000001 # Commanded vehicle depth:1527.891693 # Seafloor depth:-1572.891693 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.68; MB_Bottom_Detect_Filter_Max_Range = 219.27; MB_Bottom_Detect_Filter_Min_Depth = 45.68; MB_Bottom_Detect_Filter_Max_Depth = 219.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.662873 meters # Minimum depth: 1591.905356 meters looking forward 100.000000 meters along route # Maximum depth: 1611.025943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.905356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.724611; captureRadius = 10; duration = 121; initialDepth = 1546.905356; finalDepth = 1527.891693; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1546.905356 # Seafloor depth:-1591.905356 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.662418 meters # Minimum depth: 1595.068294 meters looking forward 100.000000 meters along route # Maximum depth: 1618.124514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.068294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710864; longitude = -122.723813; captureRadius = 10; duration = 121; initialDepth = 1550.068294; finalDepth = 1546.905356; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.9165350000001 # Actual altitude: 57.9165350000001 # Commanded vehicle depth:1550.068294 # Seafloor depth:-1607.984829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 139.00; MB_Bottom_Detect_Filter_Min_Depth = 28.96; MB_Bottom_Detect_Filter_Max_Depth = 139.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 133.520815 meters # Minimum depth: 1617.958307 meters looking forward 100.000000 meters along route # Maximum depth: 1651.085854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.958307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.723016; captureRadius = 10; duration = 133; initialDepth = 1572.958307; finalDepth = 1550.068294; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.9165350000001 # Actual altitude: 57.9165350000001 # Commanded vehicle depth:1572.958307 # Seafloor depth:-1617.958307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.96; MB_Bottom_Detect_Filter_Max_Range = 139.00; MB_Bottom_Detect_Filter_Min_Depth = 28.96; MB_Bottom_Detect_Filter_Max_Depth = 139.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.802656 meters # Minimum depth: 1651.476173 meters looking forward 100.000000 meters along route # Maximum depth: 1657.781883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.476173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712717; longitude = -122.722140; captureRadius = 10; duration = 109; initialDepth = 1606.476173; finalDepth = 1572.958307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1606.476173 # Seafloor depth:-1651.476173 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.661052 meters # Minimum depth: 1645.400528 meters looking forward 100.000000 meters along route # Maximum depth: 1651.561210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.400528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.721420; captureRadius = 10; duration = 121; initialDepth = 1600.400528; finalDepth = 1606.476173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0538270000002 # Actual altitude: 51.0538270000002 # Commanded vehicle depth:1600.400528 # Seafloor depth:-1651.454355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 122.53; MB_Bottom_Detect_Filter_Min_Depth = 25.53; MB_Bottom_Detect_Filter_Max_Depth = 122.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.660597 meters # Minimum depth: 1623.590496 meters looking forward 100.000000 meters along route # Maximum depth: 1639.903300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.590496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714397; longitude = -122.720622; captureRadius = 10; duration = 121; initialDepth = 1578.590496; finalDepth = 1600.400528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3128039999999 # Actual altitude: 61.3128039999999 # Commanded vehicle depth:1578.590496 # Seafloor depth:-1639.903300 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 147.15; MB_Bottom_Detect_Filter_Min_Depth = 30.66; MB_Bottom_Detect_Filter_Max_Depth = 147.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.660142 meters # Minimum depth: 1622.444658 meters looking forward 100.000000 meters along route # Maximum depth: 1623.767722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.444658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.719824; captureRadius = 10; duration = 121; initialDepth = 1577.444658; finalDepth = 1578.590496; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3128039999999 # Actual altitude: 61.3128039999999 # Commanded vehicle depth:1577.444658 # Seafloor depth:-1622.444658 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 147.15; MB_Bottom_Detect_Filter_Min_Depth = 30.66; MB_Bottom_Detect_Filter_Max_Depth = 147.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 131.208391 meters # Minimum depth: 1623.475996 meters looking forward 100.000000 meters along route # Maximum depth: 1641.189025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.475996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.719026; captureRadius = 10; duration = 131; initialDepth = 1578.475996; finalDepth = 1577.444658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1578.475996 # Seafloor depth:-1623.475996 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.110528 meters # Minimum depth: 1640.371980 meters looking forward 100.000000 meters along route # Maximum depth: 1644.077112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.371980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717115; longitude = -122.718166; captureRadius = 10; duration = 112; initialDepth = 1595.371980; finalDepth = 1578.475996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8459580000001 # Actual altitude: 50 # Commanded vehicle depth:1595.37198 # Seafloor depth:-1642.217938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.658776 meters # Minimum depth: 1594.575845 meters looking forward 100.000000 meters along route # Maximum depth: 1636.027876 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.575845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.717431; captureRadius = 10; duration = 121; initialDepth = 1549.575845; finalDepth = 1595.371980; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.452031 # Actual altitude: 86.452031 # Commanded vehicle depth:1549.575845 # Seafloor depth:-1636.027876 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.23; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 43.23; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.658321 meters # Minimum depth: 1546.748810 meters looking forward 100.000000 meters along route # Maximum depth: 1566.791035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.748810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.716633; captureRadius = 10; duration = 121; initialDepth = 1501.748810; finalDepth = 1549.575845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.452031 # Actual altitude: 86.452031 # Commanded vehicle depth:1501.74881 # Seafloor depth:-1566.791035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.23; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 43.23; MB_Bottom_Detect_Filter_Max_Depth = 207.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.657866 meters # Minimum depth: 1524.924455 meters looking forward 100.000000 meters along route # Maximum depth: 1542.842240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.924455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.715835; captureRadius = 10; duration = 121; initialDepth = 1479.924455; finalDepth = 1501.748810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0422249999999 # Actual altitude: 65.0422249999999 # Commanded vehicle depth:1479.924455 # Seafloor depth:-1542.842240 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 156.10; MB_Bottom_Detect_Filter_Min_Depth = 32.52; MB_Bottom_Detect_Filter_Max_Depth = 156.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 128.896052 meters # Minimum depth: 1506.965548 meters looking forward 100.000000 meters along route # Maximum depth: 1524.499587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.965548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.715037; captureRadius = 10; duration = 128; initialDepth = 1461.965548; finalDepth = 1479.924455; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9177849999999 # Actual altitude: 62.9177849999999 # Commanded vehicle depth:1461.965548 # Seafloor depth:-1524.499587 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.46; MB_Bottom_Detect_Filter_Max_Range = 151.00; MB_Bottom_Detect_Filter_Min_Depth = 31.46; MB_Bottom_Detect_Filter_Max_Depth = 151.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.661032 meters # Minimum depth: 1501.713454 meters looking forward 100.000000 meters along route # Maximum depth: 1511.139693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.713454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721514; longitude = -122.714192; captureRadius = 10; duration = 134; initialDepth = 1456.713454; finalDepth = 1461.965548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5340390000001 # Actual altitude: 62.5340390000001 # Commanded vehicle depth:1456.713454 # Seafloor depth:-1505.167901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 150.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.27; MB_Bottom_Detect_Filter_Max_Range = 150.08; MB_Bottom_Detect_Filter_Min_Depth = 31.27; MB_Bottom_Detect_Filter_Max_Depth = 150.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.413784 meters # Minimum depth: 1508.348043 meters looking forward 100.000000 meters along route # Maximum depth: 1510.433801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.348043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722492; longitude = -122.713309; captureRadius = 10; duration = 101; initialDepth = 1463.348043; finalDepth = 1456.713454; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4544470000001 # Actual altitude: 50 # Commanded vehicle depth:1463.348043 # Seafloor depth:-1510.433801 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.656045 meters # Minimum depth: 1512.259495 meters looking forward 100.000000 meters along route # Maximum depth: 1514.697675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.259495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723228; longitude = -122.712644; captureRadius = 10; duration = 121; initialDepth = 1467.259495; finalDepth = 1463.348043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0857579999999 # Actual altitude: 50 # Commanded vehicle depth:1467.259495 # Seafloor depth:-1512.259495 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.655590 meters # Minimum depth: 1516.388135 meters looking forward 100.000000 meters along route # Maximum depth: 1532.427632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.388135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724111; longitude = -122.711846; captureRadius = 10; duration = 121; initialDepth = 1471.388135; finalDepth = 1467.259495; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1471.388135 # Seafloor depth:-1516.388135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 126.583801 meters # Minimum depth: 1534.870122 meters looking forward 100.000000 meters along route # Maximum depth: 1581.558141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.870122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724994; longitude = -122.711048; captureRadius = 10; duration = 126; initialDepth = 1489.870122; finalDepth = 1471.388135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1489.870122 # Seafloor depth:-1534.870122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.658522 meters # Minimum depth: 1581.975218 meters looking forward 100.000000 meters along route # Maximum depth: 1595.604414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.975218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725913; longitude = -122.710218; captureRadius = 10; duration = 134; initialDepth = 1536.975218; finalDepth = 1489.870122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1536.975218 # Seafloor depth:-1581.975218 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.721718 meters # Minimum depth: 1599.913850 meters looking forward 100.000000 meters along route # Maximum depth: 1613.426662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.913850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726891; longitude = -122.709335; captureRadius = 10; duration = 103; initialDepth = 1554.913850; finalDepth = 1536.975218; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1554.91385 # Seafloor depth:-1599.913850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.653770 meters # Minimum depth: 1618.268975 meters looking forward 100.000000 meters along route # Maximum depth: 1624.457062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.268975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727644; longitude = -122.708655; captureRadius = 10; duration = 121; initialDepth = 1573.268975; finalDepth = 1554.913850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1573.268975 # Seafloor depth:-1618.268975 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.653315 meters # Minimum depth: 1634.425666 meters looking forward 100.000000 meters along route # Maximum depth: 1656.665049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.425666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728527; longitude = -122.707857; captureRadius = 10; duration = 121; initialDepth = 1589.425666; finalDepth = 1573.268975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1589.425666 # Seafloor depth:-1634.425666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 124.271635 meters # Minimum depth: 1623.034617 meters looking forward 100.000000 meters along route # Maximum depth: 1655.997899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.034617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729410; longitude = -122.707059; captureRadius = 10; duration = 124; initialDepth = 1578.034617; finalDepth = 1589.425666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9632819999999 # Actual altitude: 77.9632819999999 # Commanded vehicle depth:1578.034617 # Seafloor depth:-1655.997899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.98; MB_Bottom_Detect_Filter_Max_Range = 187.11; MB_Bottom_Detect_Filter_Min_Depth = 38.98; MB_Bottom_Detect_Filter_Max_Depth = 187.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.656014 meters # Minimum depth: 1622.974390 meters looking forward 100.000000 meters along route # Maximum depth: 1637.642135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.974390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730312; longitude = -122.706244; captureRadius = 10; duration = 134; initialDepth = 1577.974390; finalDepth = 1578.034617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.9632819999999 # Actual altitude: 77.9632819999999 # Commanded vehicle depth:1577.97439 # Seafloor depth:-1622.974390 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.98; MB_Bottom_Detect_Filter_Max_Range = 187.11; MB_Bottom_Detect_Filter_Min_Depth = 38.98; MB_Bottom_Detect_Filter_Max_Depth = 187.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.029565 meters # Minimum depth: 1640.977144 meters looking forward 100.000000 meters along route # Maximum depth: 1658.853149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.977144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731289; longitude = -122.705361; captureRadius = 10; duration = 106; initialDepth = 1595.977144; finalDepth = 1577.974390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1595.977144 # Seafloor depth:-1640.977144 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.651495 meters # Minimum depth: 1670.374957 meters looking forward 100.000000 meters along route # Maximum depth: 1681.741044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.374957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732059; longitude = -122.704665; captureRadius = 10; duration = 121; initialDepth = 1625.374957; finalDepth = 1595.977144; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1625.374957 # Seafloor depth:-1670.374957 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.651040 meters # Minimum depth: 1673.639228 meters looking forward 100.000000 meters along route # Maximum depth: 1681.889886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.639228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732942; longitude = -122.703868; captureRadius = 10; duration = 121; initialDepth = 1628.639228; finalDepth = 1625.374957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2506579999999 # Actual altitude: 53.2506579999999 # Commanded vehicle depth:1628.639228 # Seafloor depth:-1681.889886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 127.80; MB_Bottom_Detect_Filter_Min_Depth = 26.63; MB_Bottom_Detect_Filter_Max_Depth = 127.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.959556 meters # Minimum depth: 1670.533391 meters looking forward 100.000000 meters along route # Maximum depth: 1674.120672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.533391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733825; longitude = -122.703070; captureRadius = 10; duration = 121; initialDepth = 1625.533391; finalDepth = 1628.639228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2506579999999 # Actual altitude: 53.2506579999999 # Commanded vehicle depth:1625.533391 # Seafloor depth:-1674.120672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 127.80; MB_Bottom_Detect_Filter_Min_Depth = 26.63; MB_Bottom_Detect_Filter_Max_Depth = 127.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.653505 meters # Minimum depth: 1668.113818 meters looking forward 100.000000 meters along route # Maximum depth: 1671.011897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.113818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734711; longitude = -122.702270; captureRadius = 10; duration = 134; initialDepth = 1623.113818; finalDepth = 1625.533391; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5872810000001 # Actual altitude: 50 # Commanded vehicle depth:1623.113818 # Seafloor depth:-1670.523528 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 128.497033 meters # Minimum depth: 1673.623819 meters looking forward 100.000000 meters along route # Maximum depth: 1689.303875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.623819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735688; longitude = -122.701387; captureRadius = 10; duration = 128; initialDepth = 1628.623819; finalDepth = 1623.113818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4097099999999 # Actual altitude: 50 # Commanded vehicle depth:1628.623819 # Seafloor depth:-1673.623819 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 73.476414 meters # Minimum depth: 1675.124761 meters looking forward 100.000000 meters along route # Maximum depth: 1689.303875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.124761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736621; longitude = -122.700544; captureRadius = 10; duration = 73; initialDepth = 1630.124761; finalDepth = 1628.623819; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.854548 # Actual altitude: 54.854548 # Commanded vehicle depth:1630.124761 # Seafloor depth:-1684.979309 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 131.65; MB_Bottom_Detect_Filter_Min_Depth = 27.43; MB_Bottom_Detect_Filter_Max_Depth = 131.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 106.725037 meters # Minimum depth: 1599.704655 meters looking forward 100.000000 meters along route # Maximum depth: 1657.327596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.704655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.701271; captureRadius = 10; duration = 106; initialDepth = 1554.704655; finalDepth = 1630.124761; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.622941 # Actual altitude: 100 # Commanded vehicle depth:1554.704655 # Seafloor depth:-1657.327596 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 59.000338 meters # Minimum depth: 1584.277641 meters looking forward 100.000000 meters along route # Maximum depth: 1599.704655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.277641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737345; longitude = -122.702328; captureRadius = 10; duration = 59; initialDepth = 1539.277641; finalDepth = 1554.704655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.622941 # Actual altitude: 100 # Commanded vehicle depth:1539.277641 # Seafloor depth:-1591.730591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.512055 meters # Minimum depth: 1570.890508 meters looking forward 100.000000 meters along route # Maximum depth: 1584.215680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.890508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.702714; captureRadius = 10; duration = 134; initialDepth = 1525.890508; finalDepth = 1539.277641; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3251720000001 # Actual altitude: 58.3251720000001 # Commanded vehicle depth:1525.890508 # Seafloor depth:-1584.215680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.16; MB_Bottom_Detect_Filter_Max_Range = 139.98; MB_Bottom_Detect_Filter_Min_Depth = 29.16; MB_Bottom_Detect_Filter_Max_Depth = 139.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.515651 meters # Minimum depth: 1565.380746 meters looking forward 100.000000 meters along route # Maximum depth: 1569.411138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.380746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735939; longitude = -122.703595; captureRadius = 10; duration = 108; initialDepth = 1520.380746; finalDepth = 1525.890508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3251720000001 # Actual altitude: 58.3251720000001 # Commanded vehicle depth:1520.380746 # Seafloor depth:-1569.411138 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.16; MB_Bottom_Detect_Filter_Max_Range = 139.98; MB_Bottom_Detect_Filter_Min_Depth = 29.16; MB_Bottom_Detect_Filter_Max_Depth = 139.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.514533 meters # Minimum depth: 1563.557829 meters looking forward 100.000000 meters along route # Maximum depth: 1576.044512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.557829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735150; longitude = -122.704305; captureRadius = 10; duration = 121; initialDepth = 1518.557829; finalDepth = 1520.380746; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0303919999999 # Actual altitude: 50 # Commanded vehicle depth:1518.557829 # Seafloor depth:-1563.557829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.514984 meters # Minimum depth: 1577.885850 meters looking forward 100.000000 meters along route # Maximum depth: 1591.382381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.885850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734267; longitude = -122.705100; captureRadius = 10; duration = 121; initialDepth = 1532.885850; finalDepth = 1518.557829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.045466 # Actual altitude: 52.045466 # Commanded vehicle depth:1532.88585 # Seafloor depth:-1584.931316 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 124.91; MB_Bottom_Detect_Filter_Min_Depth = 26.02; MB_Bottom_Detect_Filter_Max_Depth = 124.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.515438 meters # Minimum depth: 1529.643275 meters looking forward 100.000000 meters along route # Maximum depth: 1578.042120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.643275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.705895; captureRadius = 10; duration = 121; initialDepth = 1484.643275; finalDepth = 1532.885850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.3988450000002 # Actual altitude: 93.3988450000002 # Commanded vehicle depth:1484.643275 # Seafloor depth:-1578.042120 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.70; MB_Bottom_Detect_Filter_Max_Range = 224.16; MB_Bottom_Detect_Filter_Min_Depth = 46.70; MB_Bottom_Detect_Filter_Max_Depth = 224.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.136552 meters # Minimum depth: 1529.525919 meters looking forward 100.000000 meters along route # Maximum depth: 1567.440590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.525919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.706691; captureRadius = 10; duration = 134; initialDepth = 1484.525919; finalDepth = 1484.643275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.3988450000002 # Actual altitude: 93.3988450000002 # Commanded vehicle depth:1484.525919 # Seafloor depth:-1529.525919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.70; MB_Bottom_Detect_Filter_Max_Range = 224.16; MB_Bottom_Detect_Filter_Min_Depth = 46.70; MB_Bottom_Detect_Filter_Max_Depth = 224.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.895681 meters # Minimum depth: 1572.177180 meters looking forward 100.000000 meters along route # Maximum depth: 1608.104713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.177180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731526; longitude = -122.707569; captureRadius = 10; duration = 108; initialDepth = 1527.177180; finalDepth = 1484.525919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1527.17718 # Seafloor depth:-1572.177180 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.516795 meters # Minimum depth: 1606.135399 meters looking forward 100.000000 meters along route # Maximum depth: 1626.543030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.135399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730734; longitude = -122.708281; captureRadius = 10; duration = 121; initialDepth = 1561.135399; finalDepth = 1527.177180; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.7945099999999 # Actual altitude: 63.7945099999999 # Commanded vehicle depth:1561.135399 # Seafloor depth:-1624.929909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 153.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.90; MB_Bottom_Detect_Filter_Max_Range = 153.11; MB_Bottom_Detect_Filter_Min_Depth = 31.90; MB_Bottom_Detect_Filter_Max_Depth = 153.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.517248 meters # Minimum depth: 1540.958775 meters looking forward 100.000000 meters along route # Maximum depth: 1592.139160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.958775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729851; longitude = -122.709077; captureRadius = 10; duration = 121; initialDepth = 1495.958775; finalDepth = 1561.135399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.1803849999999 # Actual altitude: 96.1803849999999 # Commanded vehicle depth:1495.958775 # Seafloor depth:-1592.139160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.09; MB_Bottom_Detect_Filter_Max_Range = 230.83; MB_Bottom_Detect_Filter_Min_Depth = 48.09; MB_Bottom_Detect_Filter_Max_Depth = 230.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.517700 meters # Minimum depth: 1511.333991 meters looking forward 100.000000 meters along route # Maximum depth: 1534.932983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.333991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728968; longitude = -122.709872; captureRadius = 10; duration = 121; initialDepth = 1466.333991; finalDepth = 1495.958775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.1803849999999 # Actual altitude: 96.1803849999999 # Commanded vehicle depth:1466.333991 # Seafloor depth:-1534.932983 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.09; MB_Bottom_Detect_Filter_Max_Range = 230.83; MB_Bottom_Detect_Filter_Min_Depth = 48.09; MB_Bottom_Detect_Filter_Max_Depth = 230.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 133.761036 meters # Minimum depth: 1510.150293 meters looking forward 100.000000 meters along route # Maximum depth: 1527.052884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.150293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.710667; captureRadius = 10; duration = 133; initialDepth = 1465.150293; finalDepth = 1466.333991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.598992 # Actual altitude: 68.598992 # Commanded vehicle depth:1465.150293 # Seafloor depth:-1511.454430 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 164.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.30; MB_Bottom_Detect_Filter_Max_Range = 164.64; MB_Bottom_Detect_Filter_Min_Depth = 34.30; MB_Bottom_Detect_Filter_Max_Depth = 164.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.275724 meters # Minimum depth: 1527.047127 meters looking forward 100.000000 meters along route # Maximum depth: 1547.942942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.047127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727113; longitude = -122.711543; captureRadius = 10; duration = 109; initialDepth = 1482.047127; finalDepth = 1465.150293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3041370000001 # Actual altitude: 50 # Commanded vehicle depth:1482.047127 # Seafloor depth:-1527.047127 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.519058 meters # Minimum depth: 1558.898114 meters looking forward 100.000000 meters along route # Maximum depth: 1569.621244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.898114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.712258; captureRadius = 10; duration = 121; initialDepth = 1513.898114; finalDepth = 1482.047127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1513.898114 # Seafloor depth:-1558.898114 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.519512 meters # Minimum depth: 1562.516542 meters looking forward 100.000000 meters along route # Maximum depth: 1568.898901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.516542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725436; longitude = -122.713053; captureRadius = 10; duration = 121; initialDepth = 1517.516542; finalDepth = 1513.898114; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.382359 # Actual altitude: 51.382359 # Commanded vehicle depth:1517.516542 # Seafloor depth:-1568.898901 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 123.32; MB_Bottom_Detect_Filter_Min_Depth = 25.69; MB_Bottom_Detect_Filter_Max_Depth = 123.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.519964 meters # Minimum depth: 1552.317842 meters looking forward 100.000000 meters along route # Maximum depth: 1561.830009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.317842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724553; longitude = -122.713848; captureRadius = 10; duration = 121; initialDepth = 1507.317842; finalDepth = 1517.516542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5121670000001 # Actual altitude: 54.5121670000001 # Commanded vehicle depth:1507.317842 # Seafloor depth:-1561.830009 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 130.83; MB_Bottom_Detect_Filter_Min_Depth = 27.26; MB_Bottom_Detect_Filter_Max_Depth = 130.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 133.385504 meters # Minimum depth: 1538.736732 meters looking forward 100.000000 meters along route # Maximum depth: 1552.136800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.736732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723670; longitude = -122.714644; captureRadius = 10; duration = 133; initialDepth = 1493.736732; finalDepth = 1507.317842; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4000679999999 # Actual altitude: 58.4000679999999 # Commanded vehicle depth:1493.736732 # Seafloor depth:-1552.136800 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.20; MB_Bottom_Detect_Filter_Max_Range = 140.16; MB_Bottom_Detect_Filter_Min_Depth = 29.20; MB_Bottom_Detect_Filter_Max_Depth = 140.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.655782 meters # Minimum depth: 1537.908006 meters looking forward 100.000000 meters along route # Maximum depth: 1538.701082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.908006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722700; longitude = -122.715517; captureRadius = 10; duration = 109; initialDepth = 1492.908006; finalDepth = 1493.736732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4000679999999 # Actual altitude: 58.4000679999999 # Commanded vehicle depth:1492.908006 # Seafloor depth:-1537.908006 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.20; MB_Bottom_Detect_Filter_Max_Range = 140.16; MB_Bottom_Detect_Filter_Min_Depth = 29.20; MB_Bottom_Detect_Filter_Max_Depth = 140.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.521322 meters # Minimum depth: 1535.368395 meters looking forward 100.000000 meters along route # Maximum depth: 1537.259680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.368395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.716234; captureRadius = 10; duration = 121; initialDepth = 1490.368395; finalDepth = 1492.908006; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8912849999999 # Actual altitude: 50 # Commanded vehicle depth:1490.368395 # Seafloor depth:-1537.259680 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.521775 meters # Minimum depth: 1523.462004 meters looking forward 100.000000 meters along route # Maximum depth: 1532.534725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.462004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721020; longitude = -122.717029; captureRadius = 10; duration = 121; initialDepth = 1478.462004; finalDepth = 1490.368395; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.072721 # Actual altitude: 54.072721 # Commanded vehicle depth:1478.462004 # Seafloor depth:-1532.534725 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 129.77; MB_Bottom_Detect_Filter_Min_Depth = 27.04; MB_Bottom_Detect_Filter_Max_Depth = 129.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.522228 meters # Minimum depth: 1522.501470 meters looking forward 100.000000 meters along route # Maximum depth: 1531.347308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.501470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.717825; captureRadius = 10; duration = 121; initialDepth = 1477.501470; finalDepth = 1478.462004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.072721 # Actual altitude: 54.072721 # Commanded vehicle depth:1477.50147 # Seafloor depth:-1522.501470 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 129.77; MB_Bottom_Detect_Filter_Min_Depth = 27.04; MB_Bottom_Detect_Filter_Max_Depth = 129.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 133.009960 meters # Minimum depth: 1531.853943 meters looking forward 100.000000 meters along route # Maximum depth: 1552.889070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1486.853943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.718620; captureRadius = 10; duration = 133; initialDepth = 1486.853943; finalDepth = 1477.501470; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1486.853943 # Seafloor depth:-1531.853943 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.035853 meters # Minimum depth: 1543.784649 meters looking forward 100.000000 meters along route # Maximum depth: 1551.992062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.784649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718287; longitude = -122.719491; captureRadius = 10; duration = 110; initialDepth = 1498.784649; finalDepth = 1486.853943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2074130000001 # Actual altitude: 53.2074130000001 # Commanded vehicle depth:1498.784649 # Seafloor depth:-1551.992062 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 127.70; MB_Bottom_Detect_Filter_Min_Depth = 26.60; MB_Bottom_Detect_Filter_Max_Depth = 127.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.523586 meters # Minimum depth: 1517.540968 meters looking forward 100.000000 meters along route # Maximum depth: 1534.168221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.540968 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.720211; captureRadius = 10; duration = 121; initialDepth = 1472.540968; finalDepth = 1498.784649; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6272529999999 # Actual altitude: 61.6272529999999 # Commanded vehicle depth:1472.540968 # Seafloor depth:-1534.168221 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 147.91; MB_Bottom_Detect_Filter_Min_Depth = 30.81; MB_Bottom_Detect_Filter_Max_Depth = 147.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.524039 meters # Minimum depth: 1512.532382 meters looking forward 100.000000 meters along route # Maximum depth: 1520.315008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.532382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.721006; captureRadius = 10; duration = 121; initialDepth = 1467.532382; finalDepth = 1472.540968; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6272529999999 # Actual altitude: 61.6272529999999 # Commanded vehicle depth:1467.532382 # Seafloor depth:-1512.532382 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 147.91; MB_Bottom_Detect_Filter_Min_Depth = 30.81; MB_Bottom_Detect_Filter_Max_Depth = 147.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 143.592874 meters # Minimum depth: 1525.953072 meters looking forward 100.000000 meters along route # Maximum depth: 1555.295164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.953072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.721801; captureRadius = 10; duration = 143; initialDepth = 1480.953072; finalDepth = 1467.532382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1480.953072 # Seafloor depth:-1525.953072 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 110.069578 meters # Minimum depth: 1568.370178 meters looking forward 100.000000 meters along route # Maximum depth: 1595.393434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.370178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714678; longitude = -122.722741; captureRadius = 10; duration = 110; initialDepth = 1523.370178; finalDepth = 1480.953072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1523.370178 # Seafloor depth:-1568.370178 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 111.453199 meters # Minimum depth: 1597.934630 meters looking forward 100.000000 meters along route # Maximum depth: 1613.371187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.934630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713880; longitude = -122.723465; captureRadius = 10; duration = 111; initialDepth = 1552.934630; finalDepth = 1523.370178; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1552.93463 # Seafloor depth:-1597.934630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 121.823272 meters # Minimum depth: 1608.383133 meters looking forward 100.000000 meters along route # Maximum depth: 1619.710453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.383133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.724197; captureRadius = 10; duration = 121; initialDepth = 1563.383133; finalDepth = 1552.934630; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.938924 # Actual altitude: 55.938924 # Commanded vehicle depth:1563.383133 # Seafloor depth:-1619.322057 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.97; MB_Bottom_Detect_Filter_Max_Range = 134.25; MB_Bottom_Detect_Filter_Min_Depth = 27.97; MB_Bottom_Detect_Filter_Max_Depth = 134.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 121.823730 meters # Minimum depth: 1582.938027 meters looking forward 100.000000 meters along route # Maximum depth: 1607.812594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.938027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.724998; captureRadius = 10; duration = 121; initialDepth = 1537.938027; finalDepth = 1563.383133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8745670000001 # Actual altitude: 69.8745670000001 # Commanded vehicle depth:1537.938027 # Seafloor depth:-1607.812594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 167.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.94; MB_Bottom_Detect_Filter_Max_Range = 167.70; MB_Bottom_Detect_Filter_Min_Depth = 34.94; MB_Bottom_Detect_Filter_Max_Depth = 167.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 121.824187 meters # Minimum depth: 1545.014054 meters looking forward 100.000000 meters along route # Maximum depth: 1577.473476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.014054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.725799; captureRadius = 10; duration = 121; initialDepth = 1500.014054; finalDepth = 1537.938027; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4594219999999 # Actual altitude: 77.4594219999999 # Commanded vehicle depth:1500.014054 # Seafloor depth:-1577.473476 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 185.90; MB_Bottom_Detect_Filter_Min_Depth = 38.73; MB_Bottom_Detect_Filter_Max_Depth = 185.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 119.298605 meters # Minimum depth: 1536.692239 meters looking forward 100.000000 meters along route # Maximum depth: 1542.670439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.692239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710423; longitude = -122.726600; captureRadius = 10; duration = 119; initialDepth = 1491.692239; finalDepth = 1500.014054; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4594219999999 # Actual altitude: 77.4594219999999 # Commanded vehicle depth:1491.692239 # Seafloor depth:-1542.670439 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 185.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 185.90; MB_Bottom_Detect_Filter_Min_Depth = 38.73; MB_Bottom_Detect_Filter_Max_Depth = 185.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 47.822974 meters # Minimum depth: 1532.086029 meters looking forward 100.000000 meters along route # Maximum depth: 1532.086029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.086029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709558; longitude = -122.727384; captureRadius = 10; duration = 47; initialDepth = 1487.086029; finalDepth = 1491.692239; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9782 # Actual altitude: 50.9782 # Commanded vehicle depth:1487.086029 # Seafloor depth:-1532.086029 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 122.35; MB_Bottom_Detect_Filter_Min_Depth = 25.49; MB_Bottom_Detect_Filter_Max_Depth = 122.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 135.405833 meters # Minimum depth: 1514.928517 meters looking forward 100.000000 meters along route # Maximum depth: 1527.737772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.928517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.727283; captureRadius = 10; duration = 135; initialDepth = 1469.928517; finalDepth = 1487.086029; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.491021 # Actual altitude: 57.491021 # Commanded vehicle depth:1469.928517 # Seafloor depth:-1527.419538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 137.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 137.98; MB_Bottom_Detect_Filter_Min_Depth = 28.75; MB_Bottom_Detect_Filter_Max_Depth = 137.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 114.054059 meters # Minimum depth: 1525.216273 meters looking forward 100.000000 meters along route # Maximum depth: 1544.288230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.216273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711180; longitude = -122.726997; captureRadius = 10; duration = 114; initialDepth = 1480.216273; finalDepth = 1469.928517; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.491021 # Actual altitude: 57.491021 # Commanded vehicle depth:1480.216273 # Seafloor depth:-1525.619809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 137.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 137.98; MB_Bottom_Detect_Filter_Min_Depth = 28.75; MB_Bottom_Detect_Filter_Max_Depth = 137.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 125.077783 meters # Minimum depth: 1541.079816 meters looking forward 100.000000 meters along route # Maximum depth: 1543.762139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.079816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.726756; captureRadius = 10; duration = 125; initialDepth = 1496.079816; finalDepth = 1480.216273; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0808530000002 # Actual altitude: 50 # Commanded vehicle depth:1496.079816 # Seafloor depth:-1542.160669 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 91.021997 meters # Minimum depth: 1527.076342 meters looking forward 100.000000 meters along route # Maximum depth: 1540.402771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.076342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713296; longitude = -122.726492; captureRadius = 10; duration = 91; initialDepth = 1482.076342; finalDepth = 1496.079816; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.326429 # Actual altitude: 58.326429 # Commanded vehicle depth:1482.076342 # Seafloor depth:-1540.402771 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.16; MB_Bottom_Detect_Filter_Max_Range = 139.98; MB_Bottom_Detect_Filter_Min_Depth = 29.16; MB_Bottom_Detect_Filter_Max_Depth = 139.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.929067 meters # Minimum depth: 1481.529113 meters looking forward 100.000000 meters along route # Maximum depth: 1517.168348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.529113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.725893; captureRadius = 10; duration = 121; initialDepth = 1436.529113; finalDepth = 1482.076342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6392349999999 # Actual altitude: 80.6392349999999 # Commanded vehicle depth:1436.529113 # Seafloor depth:-1517.168348 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.32; MB_Bottom_Detect_Filter_Max_Range = 193.53; MB_Bottom_Detect_Filter_Min_Depth = 40.32; MB_Bottom_Detect_Filter_Max_Depth = 193.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.928607 meters # Minimum depth: 1462.203317 meters looking forward 100.000000 meters along route # Maximum depth: 1481.443194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.203317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.725090; captureRadius = 10; duration = 121; initialDepth = 1417.203317; finalDepth = 1436.529113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.6392349999999 # Actual altitude: 80.6392349999999 # Commanded vehicle depth:1417.203317 # Seafloor depth:-1481.443194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.32; MB_Bottom_Detect_Filter_Max_Range = 193.53; MB_Bottom_Detect_Filter_Min_Depth = 40.32; MB_Bottom_Detect_Filter_Max_Depth = 193.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 124.910810 meters # Minimum depth: 1440.915624 meters looking forward 100.000000 meters along route # Maximum depth: 1458.708279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.915624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.724287; captureRadius = 10; duration = 124; initialDepth = 1395.915624; finalDepth = 1417.203317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.239877 # Actual altitude: 64.239877 # Commanded vehicle depth:1395.915624 # Seafloor depth:-1458.708279 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 154.18; MB_Bottom_Detect_Filter_Min_Depth = 32.12; MB_Bottom_Detect_Filter_Max_Depth = 154.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 134.121854 meters # Minimum depth: 1403.727085 meters looking forward 100.000000 meters along route # Maximum depth: 1439.889756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.727085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716626; longitude = -122.723465; captureRadius = 10; duration = 134; initialDepth = 1358.727085; finalDepth = 1395.915624; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.162671 # Actual altitude: 81.162671 # Commanded vehicle depth:1358.727085 # Seafloor depth:-1439.889756 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.58; MB_Bottom_Detect_Filter_Max_Range = 194.79; MB_Bottom_Detect_Filter_Min_Depth = 40.58; MB_Bottom_Detect_Filter_Max_Depth = 194.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 106.750395 meters # Minimum depth: 1404.449783 meters looking forward 100.000000 meters along route # Maximum depth: 1416.417470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.449783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717598; longitude = -122.722581; captureRadius = 10; duration = 106; initialDepth = 1359.449783; finalDepth = 1358.727085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.162671 # Actual altitude: 81.162671 # Commanded vehicle depth:1359.449783 # Seafloor depth:-1404.449783 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.58; MB_Bottom_Detect_Filter_Max_Range = 194.79; MB_Bottom_Detect_Filter_Min_Depth = 40.58; MB_Bottom_Detect_Filter_Max_Depth = 194.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.926767 meters # Minimum depth: 1427.790807 meters looking forward 100.000000 meters along route # Maximum depth: 1440.846363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.790807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.721879; captureRadius = 10; duration = 121; initialDepth = 1382.790807; finalDepth = 1359.449783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1382.790807 # Seafloor depth:-1427.790807 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.926306 meters # Minimum depth: 1445.151814 meters looking forward 100.000000 meters along route # Maximum depth: 1454.225404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.151814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.721076; captureRadius = 10; duration = 121; initialDepth = 1400.151814; finalDepth = 1382.790807; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1400.151814 # Seafloor depth:-1445.151814 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.925846 meters # Minimum depth: 1435.056020 meters looking forward 100.000000 meters along route # Maximum depth: 1454.317697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1390.056020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.720273; captureRadius = 10; duration = 121; initialDepth = 1390.056020; finalDepth = 1400.151814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.261677 # Actual altitude: 64.261677 # Commanded vehicle depth:1390.05602 # Seafloor depth:-1454.317697 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.13; MB_Bottom_Detect_Filter_Max_Range = 154.23; MB_Bottom_Detect_Filter_Min_Depth = 32.13; MB_Bottom_Detect_Filter_Max_Depth = 154.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.925386 meters # Minimum depth: 1434.920948 meters looking forward 100.000000 meters along route # Maximum depth: 1448.254621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1389.920948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721020; longitude = -122.719470; captureRadius = 10; duration = 121; initialDepth = 1389.920948; finalDepth = 1390.056020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.261677 # Actual altitude: 64.261677 # Commanded vehicle depth:1389.920948 # Seafloor depth:-1434.920948 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.13; MB_Bottom_Detect_Filter_Max_Range = 154.23; MB_Bottom_Detect_Filter_Min_Depth = 32.13; MB_Bottom_Detect_Filter_Max_Depth = 154.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.885427 meters # Minimum depth: 1475.719844 meters looking forward 100.000000 meters along route # Maximum depth: 1485.988291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1430.719844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.718667; captureRadius = 10; duration = 100; initialDepth = 1430.719844; finalDepth = 1389.920948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1430.719844 # Seafloor depth:-1475.719844 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 40.594697 meters # Minimum depth: 1483.454274 meters looking forward 100.000000 meters along route # Maximum depth: 1496.266809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.454274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722634; longitude = -122.718003; captureRadius = 10; duration = 40; initialDepth = 1438.454274; finalDepth = 1430.719844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.7555950000001 # Actual altitude: 57.7555950000001 # Commanded vehicle depth:1438.454274 # Seafloor depth:-1496.209869 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.88; MB_Bottom_Detect_Filter_Max_Range = 138.61; MB_Bottom_Detect_Filter_Min_Depth = 28.88; MB_Bottom_Detect_Filter_Max_Depth = 138.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 128.650134 meters # Minimum depth: 1498.017151 meters looking forward 100.000000 meters along route # Maximum depth: 1505.751424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.017151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722921; longitude = -122.717724; captureRadius = 10; duration = 128; initialDepth = 1453.017151; finalDepth = 1438.454274; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.7555950000001 # Actual altitude: 57.7555950000001 # Commanded vehicle depth:1453.017151 # Seafloor depth:-1498.017151 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.88; MB_Bottom_Detect_Filter_Max_Range = 138.61; MB_Bottom_Detect_Filter_Min_Depth = 28.88; MB_Bottom_Detect_Filter_Max_Depth = 138.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.197254 meters # Minimum depth: 1506.624284 meters looking forward 100.000000 meters along route # Maximum depth: 1525.237520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.624284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723830; longitude = -122.716841; captureRadius = 10; duration = 102; initialDepth = 1461.624284; finalDepth = 1453.017151; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1461.624284 # Seafloor depth:-1506.624284 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.940228 meters # Minimum depth: 1532.022951 meters looking forward 100.000000 meters along route # Maximum depth: 1551.132896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.022951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724553; longitude = -122.716140; captureRadius = 10; duration = 124; initialDepth = 1487.022951; finalDepth = 1461.624284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1487.022951 # Seafloor depth:-1532.022951 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.939714 meters # Minimum depth: 1558.020041 meters looking forward 100.000000 meters along route # Maximum depth: 1575.192977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1513.020041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725436; longitude = -122.715282; captureRadius = 10; duration = 124; initialDepth = 1513.020041; finalDepth = 1487.022951; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1513.020041 # Seafloor depth:-1558.020041 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.939200 meters # Minimum depth: 1577.608000 meters looking forward 100.000000 meters along route # Maximum depth: 1587.124379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.608000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.714424; captureRadius = 10; duration = 124; initialDepth = 1532.608000; finalDepth = 1513.020041; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1532.608 # Seafloor depth:-1577.608000 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.938686 meters # Minimum depth: 1576.327181 meters looking forward 100.000000 meters along route # Maximum depth: 1588.793370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.327181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.713567; captureRadius = 10; duration = 124; initialDepth = 1531.327181; finalDepth = 1532.608000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.0379469999998 # Actual altitude: 57.0379469999998 # Commanded vehicle depth:1531.327181 # Seafloor depth:-1588.365128 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 136.89; MB_Bottom_Detect_Filter_Min_Depth = 28.52; MB_Bottom_Detect_Filter_Max_Depth = 136.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.938172 meters # Minimum depth: 1508.433948 meters looking forward 100.000000 meters along route # Maximum depth: 1565.328594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.433948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.712709; captureRadius = 10; duration = 124; initialDepth = 1463.433948; finalDepth = 1531.327181; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.894646 # Actual altitude: 100 # Commanded vehicle depth:1463.433948 # Seafloor depth:-1565.328594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.937658 meters # Minimum depth: 1484.095857 meters looking forward 100.000000 meters along route # Maximum depth: 1500.930306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.095857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728968; longitude = -122.711851; captureRadius = 10; duration = 124; initialDepth = 1439.095857; finalDepth = 1463.433948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.894646 # Actual altitude: 100 # Commanded vehicle depth:1439.095857 # Seafloor depth:-1500.930306 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.937144 meters # Minimum depth: 1485.171515 meters looking forward 100.000000 meters along route # Maximum depth: 1540.751319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.171515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729851; longitude = -122.710994; captureRadius = 10; duration = 124; initialDepth = 1440.171515; finalDepth = 1439.095857; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.8344489999999 # Actual altitude: 61.8344489999999 # Commanded vehicle depth:1440.171515 # Seafloor depth:-1485.171515 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.92; MB_Bottom_Detect_Filter_Max_Range = 148.40; MB_Bottom_Detect_Filter_Min_Depth = 30.92; MB_Bottom_Detect_Filter_Max_Depth = 148.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.936630 meters # Minimum depth: 1546.248810 meters looking forward 100.000000 meters along route # Maximum depth: 1585.213296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.248810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730734; longitude = -122.710136; captureRadius = 10; duration = 124; initialDepth = 1501.248810; finalDepth = 1440.171515; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1501.24881 # Seafloor depth:-1546.248810 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 124.936116 meters # Minimum depth: 1521.087729 meters looking forward 100.000000 meters along route # Maximum depth: 1585.286764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.087729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.709278; captureRadius = 10; duration = 124; initialDepth = 1476.087729; finalDepth = 1501.248810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.199035 # Actual altitude: 100 # Commanded vehicle depth:1476.087729 # Seafloor depth:-1585.286764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.730367 meters # Minimum depth: 1515.672659 meters looking forward 100.000000 meters along route # Maximum depth: 1518.186849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.672659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.708421; captureRadius = 10; duration = 105; initialDepth = 1470.672659; finalDepth = 1476.087729; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.199035 # Actual altitude: 100 # Commanded vehicle depth:1470.672659 # Seafloor depth:-1518.186849 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 20.976184 meters # Minimum depth: 1512.078224 meters looking forward 100.000000 meters along route # Maximum depth: 1515.839230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.078224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733248; longitude = -122.707695; captureRadius = 10; duration = 20; initialDepth = 1467.078224; finalDepth = 1470.672659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.768791 # Actual altitude: 50 # Commanded vehicle depth:1467.078224 # Seafloor depth:-1514.847015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 113.823750 meters # Minimum depth: 1511.648750 meters looking forward 100.000000 meters along route # Maximum depth: 1515.557063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1466.648750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733407; longitude = -122.707569; captureRadius = 10; duration = 113; initialDepth = 1466.648750; finalDepth = 1467.078224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.768791 # Actual altitude: 50 # Commanded vehicle depth:1466.64875 # Seafloor depth:-1511.648750 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 116.838853 meters # Minimum depth: 1524.384177 meters looking forward 100.000000 meters along route # Maximum depth: 1534.811481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.384177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734267; longitude = -122.706882; captureRadius = 10; duration = 116; initialDepth = 1479.384177; finalDepth = 1466.648750; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1479.384177 # Seafloor depth:-1524.384177 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 135.530142 meters # Minimum depth: 1481.882001 meters looking forward 100.000000 meters along route # Maximum depth: 1523.065067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.882001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735150; longitude = -122.706178; captureRadius = 10; duration = 135; initialDepth = 1436.882001; finalDepth = 1479.384177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1830660000001 # Actual altitude: 86.1830660000001 # Commanded vehicle depth:1436.882001 # Seafloor depth:-1523.065067 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.09; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 43.09; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 121.536517 meters # Minimum depth: 1483.387925 meters looking forward 100.000000 meters along route # Maximum depth: 1494.562355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1438.387925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736174; longitude = -122.705361; captureRadius = 10; duration = 121; initialDepth = 1438.387925; finalDepth = 1436.882001; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1830660000001 # Actual altitude: 86.1830660000001 # Commanded vehicle depth:1438.387925 # Seafloor depth:-1483.387925 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.09; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 43.09; MB_Bottom_Detect_Filter_Max_Depth = 206.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 74.087642 meters # Minimum depth: 1470.114616 meters looking forward 100.000000 meters along route # Maximum depth: 1494.562355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.114616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737093; longitude = -122.704628; captureRadius = 10; duration = 74; initialDepth = 1425.114616; finalDepth = 1438.387925; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.948067 # Actual altitude: 66.948067 # Commanded vehicle depth:1425.114616 # Seafloor depth:-1492.062683 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.47; MB_Bottom_Detect_Filter_Max_Range = 160.68; MB_Bottom_Detect_Filter_Min_Depth = 33.47; MB_Bottom_Detect_Filter_Max_Depth = 160.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.121258 meters # Minimum depth: 1466.064009 meters looking forward 100.000000 meters along route # Maximum depth: 1470.081137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.064009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737392; longitude = -122.705361; captureRadius = 10; duration = 109; initialDepth = 1421.064009; finalDepth = 1425.114616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.948067 # Actual altitude: 66.948067 # Commanded vehicle depth:1421.064009 # Seafloor depth:-1468.060432 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.47; MB_Bottom_Detect_Filter_Max_Range = 160.68; MB_Bottom_Detect_Filter_Min_Depth = 33.47; MB_Bottom_Detect_Filter_Max_Depth = 160.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 4.514136 meters # Minimum depth: 1466.064009 meters looking forward 100.000000 meters along route # Maximum depth: 1473.319122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.064009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737832; longitude = -122.706440; captureRadius = 10; duration = 4; initialDepth = 1421.064009; finalDepth = 1421.064009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2551130000002 # Actual altitude: 52.2551130000002 # Commanded vehicle depth:1421.064009 # Seafloor depth:-1473.319122 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 125.41; MB_Bottom_Detect_Filter_Min_Depth = 26.13; MB_Bottom_Detect_Filter_Max_Depth = 125.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.989527 meters # Minimum depth: 1473.547516 meters looking forward 100.000000 meters along route # Maximum depth: 1496.436391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1428.547516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737799; longitude = -122.706470; captureRadius = 10; duration = 121; initialDepth = 1428.547516; finalDepth = 1421.064009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2551130000002 # Actual altitude: 52.2551130000002 # Commanded vehicle depth:1428.547516 # Seafloor depth:-1473.547516 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 125.41; MB_Bottom_Detect_Filter_Min_Depth = 26.13; MB_Bottom_Detect_Filter_Max_Depth = 125.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.989988 meters # Minimum depth: 1502.328704 meters looking forward 100.000000 meters along route # Maximum depth: 1513.410082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.328704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.707274; captureRadius = 10; duration = 121; initialDepth = 1457.328704; finalDepth = 1428.547516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1457.328704 # Seafloor depth:-1502.328704 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 123.651253 meters # Minimum depth: 1514.555602 meters looking forward 100.000000 meters along route # Maximum depth: 1554.256483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.555602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736033; longitude = -122.708078; captureRadius = 10; duration = 123; initialDepth = 1469.555602; finalDepth = 1457.328704; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1469.555602 # Seafloor depth:-1514.555602 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 133.967101 meters # Minimum depth: 1554.772169 meters looking forward 100.000000 meters along route # Maximum depth: 1578.309614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.772169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735138; longitude = -122.708893; captureRadius = 10; duration = 133; initialDepth = 1509.772169; finalDepth = 1469.555602; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1509.772169 # Seafloor depth:-1554.772169 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 108.354379 meters # Minimum depth: 1582.757921 meters looking forward 100.000000 meters along route # Maximum depth: 1604.434326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.757921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734168; longitude = -122.709776; captureRadius = 10; duration = 108; initialDepth = 1537.757921; finalDepth = 1509.772169; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1537.757921 # Seafloor depth:-1582.757921 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.991834 meters # Minimum depth: 1608.710141 meters looking forward 100.000000 meters along route # Maximum depth: 1621.236429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.710141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.710491; captureRadius = 10; duration = 121; initialDepth = 1563.710141; finalDepth = 1537.757921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1563.710141 # Seafloor depth:-1608.710141 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.992295 meters # Minimum depth: 1588.881660 meters looking forward 100.000000 meters along route # Maximum depth: 1614.773762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.881660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.711295; captureRadius = 10; duration = 121; initialDepth = 1543.881660; finalDepth = 1563.710141; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.892102 # Actual altitude: 70.892102 # Commanded vehicle depth:1543.88166 # Seafloor depth:-1614.773762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.45; MB_Bottom_Detect_Filter_Max_Range = 170.14; MB_Bottom_Detect_Filter_Min_Depth = 35.45; MB_Bottom_Detect_Filter_Max_Depth = 170.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.992757 meters # Minimum depth: 1572.393626 meters looking forward 100.000000 meters along route # Maximum depth: 1589.262338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.393626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.712099; captureRadius = 10; duration = 121; initialDepth = 1527.393626; finalDepth = 1543.881660; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.892102 # Actual altitude: 70.892102 # Commanded vehicle depth:1527.393626 # Seafloor depth:-1589.262338 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.45; MB_Bottom_Detect_Filter_Max_Range = 170.14; MB_Bottom_Detect_Filter_Min_Depth = 35.45; MB_Bottom_Detect_Filter_Max_Depth = 170.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 128.527575 meters # Minimum depth: 1565.000880 meters looking forward 100.000000 meters along route # Maximum depth: 1575.981853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.000880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730734; longitude = -122.712903; captureRadius = 10; duration = 128; initialDepth = 1520.000880; finalDepth = 1527.393626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.868712 # Actual altitude: 61.868712 # Commanded vehicle depth:1520.00088 # Seafloor depth:-1571.195188 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 148.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.93; MB_Bottom_Detect_Filter_Max_Range = 148.48; MB_Bottom_Detect_Filter_Min_Depth = 30.93; MB_Bottom_Detect_Filter_Max_Depth = 148.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 133.970161 meters # Minimum depth: 1580.124488 meters looking forward 100.000000 meters along route # Maximum depth: 1609.113566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.124488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729804; longitude = -122.713750; captureRadius = 10; duration = 133; initialDepth = 1535.124488; finalDepth = 1520.000880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1943079999999 # Actual altitude: 51.1943079999999 # Commanded vehicle depth:1535.124488 # Seafloor depth:-1580.124488 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 122.87; MB_Bottom_Detect_Filter_Min_Depth = 25.60; MB_Bottom_Detect_Filter_Max_Depth = 122.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.483301 meters # Minimum depth: 1568.397062 meters looking forward 100.000000 meters along route # Maximum depth: 1600.189283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.397062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728834; longitude = -122.714633; captureRadius = 10; duration = 103; initialDepth = 1523.397062; finalDepth = 1535.124488; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.7922209999999 # Actual altitude: 76.7922209999999 # Commanded vehicle depth:1523.397062 # Seafloor depth:-1600.189283 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 184.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.40; MB_Bottom_Detect_Filter_Max_Range = 184.30; MB_Bottom_Detect_Filter_Min_Depth = 38.40; MB_Bottom_Detect_Filter_Max_Depth = 184.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.994602 meters # Minimum depth: 1497.659881 meters looking forward 100.000000 meters along route # Maximum depth: 1547.617435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1452.659881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.715316; captureRadius = 10; duration = 121; initialDepth = 1452.659881; finalDepth = 1523.397062; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.9575539999998 # Actual altitude: 94.9575539999998 # Commanded vehicle depth:1452.659881 # Seafloor depth:-1547.617435 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.48; MB_Bottom_Detect_Filter_Max_Range = 227.90; MB_Bottom_Detect_Filter_Min_Depth = 47.48; MB_Bottom_Detect_Filter_Max_Depth = 227.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.995063 meters # Minimum depth: 1470.531846 meters looking forward 100.000000 meters along route # Maximum depth: 1488.823537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.531846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.716120; captureRadius = 10; duration = 121; initialDepth = 1425.531846; finalDepth = 1452.659881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.9575539999998 # Actual altitude: 94.9575539999998 # Commanded vehicle depth:1425.531846 # Seafloor depth:-1488.823537 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.48; MB_Bottom_Detect_Filter_Max_Range = 227.90; MB_Bottom_Detect_Filter_Min_Depth = 47.48; MB_Bottom_Detect_Filter_Max_Depth = 227.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.995524 meters # Minimum depth: 1445.398337 meters looking forward 100.000000 meters along route # Maximum depth: 1474.211763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.398337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.716924; captureRadius = 10; duration = 121; initialDepth = 1400.398337; finalDepth = 1425.531846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.8134259999999 # Actual altitude: 73.8134259999999 # Commanded vehicle depth:1400.398337 # Seafloor depth:-1474.211763 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.91; MB_Bottom_Detect_Filter_Max_Range = 177.15; MB_Bottom_Detect_Filter_Min_Depth = 36.91; MB_Bottom_Detect_Filter_Max_Depth = 177.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 133.404121 meters # Minimum depth: 1410.084598 meters looking forward 100.000000 meters along route # Maximum depth: 1445.194439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.084598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725436; longitude = -122.717728; captureRadius = 10; duration = 133; initialDepth = 1365.084598; finalDepth = 1400.398337; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.1098410000002 # Actual altitude: 80.1098410000002 # Commanded vehicle depth:1365.084598 # Seafloor depth:-1445.194439 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 192.26; MB_Bottom_Detect_Filter_Min_Depth = 40.05; MB_Bottom_Detect_Filter_Max_Depth = 192.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.588313 meters # Minimum depth: 1401.511118 meters looking forward 100.000000 meters along route # Maximum depth: 1408.152861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1356.511118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724470; longitude = -122.718607; captureRadius = 10; duration = 110; initialDepth = 1356.511118; finalDepth = 1365.084598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.1098410000002 # Actual altitude: 80.1098410000002 # Commanded vehicle depth:1356.511118 # Seafloor depth:-1408.152861 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.05; MB_Bottom_Detect_Filter_Max_Range = 192.26; MB_Bottom_Detect_Filter_Min_Depth = 40.05; MB_Bottom_Detect_Filter_Max_Depth = 192.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.996909 meters # Minimum depth: 1412.434389 meters looking forward 100.000000 meters along route # Maximum depth: 1421.521033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.434389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723670; longitude = -122.719336; captureRadius = 10; duration = 121; initialDepth = 1367.434389; finalDepth = 1356.511118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6417430000001 # Actual altitude: 51.6417430000001 # Commanded vehicle depth:1367.434389 # Seafloor depth:-1413.233977 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 123.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 123.94; MB_Bottom_Detect_Filter_Min_Depth = 25.82; MB_Bottom_Detect_Filter_Max_Depth = 123.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.997370 meters # Minimum depth: 1362.933516 meters looking forward 100.000000 meters along route # Maximum depth: 1404.244112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1317.933516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.720141; captureRadius = 10; duration = 121; initialDepth = 1317.933516; finalDepth = 1367.434389; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.310596 # Actual altitude: 86.310596 # Commanded vehicle depth:1317.933516 # Seafloor depth:-1404.244112 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 43.16; MB_Bottom_Detect_Filter_Max_Depth = 207.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.997832 meters # Minimum depth: 1364.513652 meters looking forward 100.000000 meters along route # Maximum depth: 1383.542903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.513652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.720945; captureRadius = 10; duration = 121; initialDepth = 1319.513652; finalDepth = 1317.933516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.310596 # Actual altitude: 86.310596 # Commanded vehicle depth:1319.513652 # Seafloor depth:-1364.513652 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 207.15; MB_Bottom_Detect_Filter_Min_Depth = 43.16; MB_Bottom_Detect_Filter_Max_Depth = 207.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 126.303455 meters # Minimum depth: 1361.623873 meters looking forward 100.000000 meters along route # Maximum depth: 1371.426082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.623873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721020; longitude = -122.721749; captureRadius = 10; duration = 126; initialDepth = 1316.623873; finalDepth = 1319.513652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8022089999999 # Actual altitude: 54.8022089999999 # Commanded vehicle depth:1316.623873 # Seafloor depth:-1371.426082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 131.53; MB_Bottom_Detect_Filter_Min_Depth = 27.40; MB_Bottom_Detect_Filter_Max_Depth = 131.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 133.975725 meters # Minimum depth: 1341.729634 meters looking forward 100.000000 meters along route # Maximum depth: 1366.645305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.729634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720106; longitude = -122.722581; captureRadius = 10; duration = 133; initialDepth = 1296.729634; finalDepth = 1316.623873; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.915671 # Actual altitude: 69.915671 # Commanded vehicle depth:1296.729634 # Seafloor depth:-1366.645305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 167.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 167.80; MB_Bottom_Detect_Filter_Min_Depth = 34.96; MB_Bottom_Detect_Filter_Max_Depth = 167.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.717084 meters # Minimum depth: 1340.608638 meters looking forward 100.000000 meters along route # Maximum depth: 1347.189950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.608638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719136; longitude = -122.723465; captureRadius = 10; duration = 105; initialDepth = 1295.608638; finalDepth = 1296.729634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.915671 # Actual altitude: 69.915671 # Commanded vehicle depth:1295.608638 # Seafloor depth:-1340.608638 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 167.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.96; MB_Bottom_Detect_Filter_Max_Range = 167.80; MB_Bottom_Detect_Filter_Min_Depth = 34.96; MB_Bottom_Detect_Filter_Max_Depth = 167.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.999677 meters # Minimum depth: 1353.597987 meters looking forward 100.000000 meters along route # Maximum depth: 1375.453359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1308.597987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.724161; captureRadius = 10; duration = 121; initialDepth = 1308.597987; finalDepth = 1295.608638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1308.597987 # Seafloor depth:-1353.597987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 122.000139 meters # Minimum depth: 1387.916686 meters looking forward 100.000000 meters along route # Maximum depth: 1402.239363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1342.916686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.724966; captureRadius = 10; duration = 122; initialDepth = 1342.916686; finalDepth = 1308.597987; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.937743 # Actual altitude: 50 # Commanded vehicle depth:1342.916686 # Seafloor depth:-1388.854429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 122.000601 meters # Minimum depth: 1404.992065 meters looking forward 100.000000 meters along route # Maximum depth: 1450.547065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.992065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.725770; captureRadius = 10; duration = 122; initialDepth = 1359.992065; finalDepth = 1342.916686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.937743 # Actual altitude: 50 # Commanded vehicle depth:1359.992065 # Seafloor depth:-1404.992065 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 131.180152 meters # Minimum depth: 1451.559345 meters looking forward 100.000000 meters along route # Maximum depth: 1514.931291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.559345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.726574; captureRadius = 10; duration = 131; initialDepth = 1406.559345; finalDepth = 1359.992065; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1406.559345 # Seafloor depth:-1451.559345 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 133.978787 meters # Minimum depth: 1518.759871 meters looking forward 100.000000 meters along route # Maximum depth: 1546.853827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.759871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714772; longitude = -122.727439; captureRadius = 10; duration = 133; initialDepth = 1473.759871; finalDepth = 1406.559345; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1473.759871 # Seafloor depth:-1518.759871 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 133.979343 meters # Minimum depth: 1547.522781 meters looking forward 100.000000 meters along route # Maximum depth: 1555.090095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.522781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713802; longitude = -122.728322; captureRadius = 10; duration = 133; initialDepth = 1502.522781; finalDepth = 1473.759871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2829840000002 # Actual altitude: 50 # Commanded vehicle depth:1502.522781 # Seafloor depth:-1547.805765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 116.088446 meters # Minimum depth: 1559.112775 meters looking forward 100.000000 meters along route # Maximum depth: 1564.449576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.112775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712832; longitude = -122.729205; captureRadius = 10; duration = 116; initialDepth = 1514.112775; finalDepth = 1502.522781; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2829840000002 # Actual altitude: 50 # Commanded vehicle depth:1514.112775 # Seafloor depth:-1559.112775 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 107.095344 meters # Minimum depth: 1567.379486 meters looking forward 100.000000 meters along route # Maximum depth: 1615.298207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.379486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711992; longitude = -122.729970; captureRadius = 10; duration = 107; initialDepth = 1522.379486; finalDepth = 1514.112775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1522.379486 # Seafloor depth:-1567.379486 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 117.255220 meters # Minimum depth: 1640.744945 meters looking forward 100.000000 meters along route # Maximum depth: 1684.877818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.744945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712508; longitude = -122.730971; captureRadius = 10; duration = 117; initialDepth = 1595.744945; finalDepth = 1522.379486; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1595.744945 # Seafloor depth:-1640.744945 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.284069 meters # Minimum depth: 1698.074165 meters looking forward 100.000000 meters along route # Maximum depth: 1738.076317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1653.074165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.732067; captureRadius = 10; duration = 116; initialDepth = 1653.074165; finalDepth = 1595.744945; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1653.074165 # Seafloor depth:-1698.074165 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 128.850015 meters # Minimum depth: 1718.312776 meters looking forward 100.000000 meters along route # Maximum depth: 1734.631409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1673.312776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713632; longitude = -122.733154; captureRadius = 10; duration = 128; initialDepth = 1673.312776; finalDepth = 1653.074165; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3186330000001 # Actual altitude: 61.3186330000001 # Commanded vehicle depth:1673.312776 # Seafloor depth:-1734.631409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 147.16; MB_Bottom_Detect_Filter_Min_Depth = 30.66; MB_Bottom_Detect_Filter_Max_Depth = 147.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.156182 meters # Minimum depth: 1723.556010 meters looking forward 100.000000 meters along route # Maximum depth: 1725.608423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.556010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714559; longitude = -122.732296; captureRadius = 10; duration = 100; initialDepth = 1678.556010; finalDepth = 1673.312776; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3186330000001 # Actual altitude: 61.3186330000001 # Commanded vehicle depth:1678.55601 # Seafloor depth:-1725.405056 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.66; MB_Bottom_Detect_Filter_Max_Range = 147.16; MB_Bottom_Detect_Filter_Min_Depth = 30.66; MB_Bottom_Detect_Filter_Max_Depth = 147.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.722314 meters # Minimum depth: 1678.636584 meters looking forward 100.000000 meters along route # Maximum depth: 1718.699863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.636584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.731629; captureRadius = 10; duration = 122; initialDepth = 1633.636584; finalDepth = 1678.556010; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.063279 # Actual altitude: 85.063279 # Commanded vehicle depth:1633.636584 # Seafloor depth:-1718.699863 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.53; MB_Bottom_Detect_Filter_Max_Range = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 42.53; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.721840 meters # Minimum depth: 1634.701418 meters looking forward 100.000000 meters along route # Maximum depth: 1670.340938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.701418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.730811; captureRadius = 10; duration = 122; initialDepth = 1589.701418; finalDepth = 1633.636584; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.063279 # Actual altitude: 85.063279 # Commanded vehicle depth:1589.701418 # Seafloor depth:-1670.340938 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.53; MB_Bottom_Detect_Filter_Max_Range = 204.15; MB_Bottom_Detect_Filter_Min_Depth = 42.53; MB_Bottom_Detect_Filter_Max_Depth = 204.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.721364 meters # Minimum depth: 1591.899804 meters looking forward 100.000000 meters along route # Maximum depth: 1630.193160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.899804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.729994; captureRadius = 10; duration = 122; initialDepth = 1546.899804; finalDepth = 1589.701418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2933560000001 # Actual altitude: 83.2933560000001 # Commanded vehicle depth:1546.899804 # Seafloor depth:-1630.193160 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.65; MB_Bottom_Detect_Filter_Max_Range = 199.90; MB_Bottom_Detect_Filter_Min_Depth = 41.65; MB_Bottom_Detect_Filter_Max_Depth = 199.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 128.268419 meters # Minimum depth: 1547.914525 meters looking forward 100.000000 meters along route # Maximum depth: 1590.637757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.914525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.729176; captureRadius = 10; duration = 128; initialDepth = 1502.914525; finalDepth = 1546.899804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7232320000001 # Actual altitude: 87.7232320000001 # Commanded vehicle depth:1502.914525 # Seafloor depth:-1590.637757 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.86; MB_Bottom_Detect_Filter_Max_Range = 210.54; MB_Bottom_Detect_Filter_Min_Depth = 43.86; MB_Bottom_Detect_Filter_Max_Depth = 210.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 132.574059 meters # Minimum depth: 1487.912498 meters looking forward 100.000000 meters along route # Maximum depth: 1545.668332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1442.912498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718852; longitude = -122.728322; captureRadius = 10; duration = 132; initialDepth = 1442.912498; finalDepth = 1502.914525; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.755834 # Actual altitude: 100 # Commanded vehicle depth:1442.912498 # Seafloor depth:-1545.668332 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 107.318769 meters # Minimum depth: 1455.632138 meters looking forward 100.000000 meters along route # Maximum depth: 1480.332263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.632138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719806; longitude = -122.727439; captureRadius = 10; duration = 107; initialDepth = 1410.632138; finalDepth = 1442.912498; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.755834 # Actual altitude: 100 # Commanded vehicle depth:1410.632138 # Seafloor depth:-1480.332263 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 122.719467 meters # Minimum depth: 1427.195311 meters looking forward 100.000000 meters along route # Maximum depth: 1437.070593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.195311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.726724; captureRadius = 10; duration = 122; initialDepth = 1382.195311; finalDepth = 1410.632138; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7001250000001 # Actual altitude: 69.7001250000001 # Commanded vehicle depth:1382.195311 # Seafloor depth:-1436.669304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 167.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.85; MB_Bottom_Detect_Filter_Max_Range = 167.28; MB_Bottom_Detect_Filter_Min_Depth = 34.85; MB_Bottom_Detect_Filter_Max_Depth = 167.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 117.878335 meters # Minimum depth: 1372.434924 meters looking forward 100.000000 meters along route # Maximum depth: 1418.661621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1327.434924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.725906; captureRadius = 10; duration = 117; initialDepth = 1327.434924; finalDepth = 1382.195311; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.2266970000001 # Actual altitude: 91.2266970000001 # Commanded vehicle depth:1327.434924 # Seafloor depth:-1418.661621 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.61; MB_Bottom_Detect_Filter_Max_Range = 218.94; MB_Bottom_Detect_Filter_Min_Depth = 45.61; MB_Bottom_Detect_Filter_Max_Depth = 218.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 102.371275 meters # Minimum depth: 1361.424952 meters looking forward 100.000000 meters along route # Maximum depth: 1367.660675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.424952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722310; longitude = -122.725121; captureRadius = 10; duration = 102; initialDepth = 1316.424952; finalDepth = 1327.434924; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.2266970000001 # Actual altitude: 91.2266970000001 # Commanded vehicle depth:1316.424952 # Seafloor depth:-1367.660675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.61; MB_Bottom_Detect_Filter_Max_Range = 218.94; MB_Bottom_Detect_Filter_Min_Depth = 45.61; MB_Bottom_Detect_Filter_Max_Depth = 218.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 126.806159 meters # Minimum depth: 1341.454799 meters looking forward 100.000000 meters along route # Maximum depth: 1346.352252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.454799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723228; longitude = -122.725003; captureRadius = 10; duration = 126; initialDepth = 1296.454799; finalDepth = 1316.424952; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.235723 # Actual altitude: 51.235723 # Commanded vehicle depth:1296.454799 # Seafloor depth:-1346.352252 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 122.97; MB_Bottom_Detect_Filter_Min_Depth = 25.62; MB_Bottom_Detect_Filter_Max_Depth = 122.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 49.8974529999998 # Actual altitude: 50 # Commanded vehicle depth:1296.454799 # Seafloor depth:-1342.227020 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1341.454799 meters looking forward 100.000000 meters along route # Maximum depth: 1342.455905 meters looking forward 100.000000 meters along route # Vehicle depth: 1296.454799 meters behavior waypoint { latitude = 35.724365; longitude = -122.724856; captureRadius = 10; duration = 500; depth = 1296.454799; speed = MISSION_SPEED; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1296.454799 meters set by local depth and desired altitude behavior descend { duration = 6998; horizontalMode = rudder; horizontal = DESCENDRUDDER; pitch = DESCENDPITCH; speed = MISSION_SPEED; minAltitude = ALTITUDE_MIN; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1341.454799 meters looking forward 100.000000 meters along route # Maximum depth: 1342.455905 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.724365; longitude = -122.724856; captureRadius = 10; duration = 500; depth = 50.000000; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 185.842339; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 185.842339; speed = MISSION_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 = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 108.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 108.00; MB_Bottom_Detect_Filter_Min_Depth = 22.50; MB_Bottom_Detect_Filter_Max_Depth = 108.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################