# 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: DavidsonSurvey07_50m_v2.rte # Mission File: DavidsonSurvey07_50m_v2.cfg # Distance: 18490.695876 (m) # Estimated Time: 19072 (s) 5.298 (hr) # Abort Time: 21105 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5894 (s) # Way Points: 29 # Route Points: 175 # 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 -122.722758 35.723488 -1312.115509 0.000000 1 # 1 -122.723564 35.721559 -1314.576202 226.024093 1 # 2 -122.726769 35.719459 -1464.157990 597.879598 1 # 3 -122.734172 35.720396 -1587.248383 1275.467332 1 # 4 -122.735487 35.718431 -1630.666595 1523.747914 1 # 5 -122.735174 35.716785 -1685.567719 1708.488152 1 # 6 -122.737344 35.715943 -1681.017639 1925.848163 1 # 7 -122.738316 35.713068 -1617.630493 2256.613464 1 # 8 -122.743609 35.712779 -1677.209015 2736.456906 1 # 9 -122.744780 35.711067 -1688.323364 2953.881018 1 # 10 -122.746327 35.708669 -1726.294250 3254.411024 1 # 11 -122.748316 35.705505 -1756.430054 3648.767878 1 # 12 -122.743841 35.708318 -1602.526672 4159.854275 1 # 13 -122.744051 35.705172 -1607.193024 4509.293649 1 # 14 -122.746570 35.701251 -1574.915619 5000.260072 1 # 15 -122.743211 35.700665 -1487.679260 5311.012150 1 # 16 -122.755079 35.693283 -1486.829010 6661.271106 1 # 17 -122.759189 35.688642 -1555.539581 7296.277426 1 # 18 -122.754913 35.690335 -1393.248627 7726.328347 1 # 19 -122.758504 35.684512 -1630.481934 8449.284724 1 # 20 -122.756904 35.679754 -1764.804626 8996.492421 1 # 21 -122.762970 35.675342 -1601.521423 9731.866126 1 # 22 -122.770958 35.677464 -1758.380219 10492.086401 1 # 23 -122.802428 35.653685 -2316.658875 14373.830005 1 # 24 -122.797423 35.654010 -2400.190186 14828.315274 1 # 25 -122.787201 35.660590 -2069.252563 16006.738269 1 # 26 -122.783455 35.661212 -1940.017700 16352.744103 1 # 27 -122.781610 35.672614 -2056.968201 17628.305386 1 # 28 -122.772792 35.675562 -1769.414246 18490.695876 1 # # A total of 175 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 18490.695876 #define MISSION_TIME 19072 #define MISSION_TIMEOUT 21105 #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 = 5894; 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 28 # Segment length 98.780208 meters # Minimum depth: 1768.380909 meters looking forward 100.000000 meters along route # Maximum depth: 1770.826617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.380909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675562; longitude = -122.772792; captureRadius = 10; duration = 98; initialDepth = 1723.380909; finalDepth = 1723.380909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0333370000001 # Actual altitude: 50 # Commanded vehicle depth:1723.380909 # Seafloor depth:-1769.414246 # 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 129.550016 meters # Minimum depth: 1734.174262 meters looking forward 100.000000 meters along route # Maximum depth: 1749.881424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.174262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675224; longitude = -122.773802; captureRadius = 10; duration = 129; initialDepth = 1689.174262; finalDepth = 1723.380909; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.7071619999999 # Actual altitude: 60.7071619999999 # Commanded vehicle depth:1689.174262 # Seafloor depth:-1749.881424 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 145.70; MB_Bottom_Detect_Filter_Min_Depth = 30.35; MB_Bottom_Detect_Filter_Max_Depth = 145.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 129.550620 meters # Minimum depth: 1744.341433 meters looking forward 100.000000 meters along route # Maximum depth: 1797.716933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.341433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674781; longitude = -122.775127; captureRadius = 10; duration = 129; initialDepth = 1699.341433; finalDepth = 1689.174262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.7071619999999 # Actual altitude: 60.7071619999999 # Commanded vehicle depth:1699.341433 # Seafloor depth:-1744.341433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 145.70; MB_Bottom_Detect_Filter_Min_Depth = 30.35; MB_Bottom_Detect_Filter_Max_Depth = 145.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 129.551223 meters # Minimum depth: 1823.122798 meters looking forward 100.000000 meters along route # Maximum depth: 1858.405848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.122798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674339; longitude = -122.776451; captureRadius = 10; duration = 129; initialDepth = 1778.122798; finalDepth = 1699.341433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1778.122798 # Seafloor depth:-1823.122798 # 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 129.551827 meters # Minimum depth: 1881.636526 meters looking forward 100.000000 meters along route # Maximum depth: 1936.557936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.636526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673896; longitude = -122.777776; captureRadius = 10; duration = 129; initialDepth = 1836.636526; finalDepth = 1778.122798; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1836.636526 # Seafloor depth:-1881.636526 # 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 129.552431 meters # Minimum depth: 1963.664404 meters looking forward 100.000000 meters along route # Maximum depth: 2006.625079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1918.664404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673453; longitude = -122.779101; captureRadius = 10; duration = 129; initialDepth = 1918.664404; finalDepth = 1836.636526; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1918.664404 # Seafloor depth:-1963.664404 # 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 115.854165 meters # Minimum depth: 2028.735196 meters looking forward 100.000000 meters along route # Maximum depth: 2054.325622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1983.735196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673010; longitude = -122.780425; captureRadius = 10; duration = 115; initialDepth = 1983.735196; finalDepth = 1918.664404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1983.735196 # Seafloor depth:-2028.735196 # 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 18.467644 meters # Minimum depth: 2031.264315 meters looking forward 100.000000 meters along route # Maximum depth: 2056.968201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1986.264315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672614; longitude = -122.781610; captureRadius = 10; duration = 18; initialDepth = 1986.264315; finalDepth = 1983.735196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.7038860000002 # Actual altitude: 70.7038860000002 # Commanded vehicle depth:1986.264315 # Seafloor depth:-2056.968201 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 169.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.35; MB_Bottom_Detect_Filter_Max_Range = 169.69; MB_Bottom_Detect_Filter_Min_Depth = 35.35; MB_Bottom_Detect_Filter_Max_Depth = 169.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 148.193102 meters # Minimum depth: 2017.033959 meters looking forward 100.000000 meters along route # Maximum depth: 2055.756982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1972.033959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672449; longitude = -122.781637; captureRadius = 10; duration = 148; initialDepth = 1972.033959; finalDepth = 1986.264315; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7230229999998 # Actual altitude: 83.7230229999998 # Commanded vehicle depth:1972.033959 # Seafloor depth:-2055.756982 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.86; MB_Bottom_Detect_Filter_Max_Range = 200.94; MB_Bottom_Detect_Filter_Min_Depth = 41.86; MB_Bottom_Detect_Filter_Max_Depth = 200.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 148.193110 meters # Minimum depth: 1940.860999 meters looking forward 100.000000 meters along route # Maximum depth: 2003.396703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.860999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671124; longitude = -122.781851; captureRadius = 10; duration = 148; initialDepth = 1895.860999; finalDepth = 1972.033959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.535704 # Actual altitude: 100 # Commanded vehicle depth:1895.860999 # Seafloor depth:-2003.396703 # 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 27 # Segment length 148.193119 meters # Minimum depth: 1899.994572 meters looking forward 100.000000 meters along route # Maximum depth: 1922.060297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.994572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669800; longitude = -122.782065; captureRadius = 10; duration = 148; initialDepth = 1854.994572; finalDepth = 1895.860999; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.535704 # Actual altitude: 100 # Commanded vehicle depth:1854.994572 # Seafloor depth:-1922.060297 # 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 27 # Segment length 148.193127 meters # Minimum depth: 1894.677755 meters looking forward 100.000000 meters along route # Maximum depth: 1914.294789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.677755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668475; longitude = -122.782280; captureRadius = 10; duration = 148; initialDepth = 1849.677755; finalDepth = 1854.994572; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0657249999999 # Actual altitude: 67.0657249999999 # Commanded vehicle depth:1849.677755 # Seafloor depth:-1894.677755 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.53; MB_Bottom_Detect_Filter_Max_Range = 160.96; MB_Bottom_Detect_Filter_Min_Depth = 33.53; MB_Bottom_Detect_Filter_Max_Depth = 160.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 148.193136 meters # Minimum depth: 1921.470500 meters looking forward 100.000000 meters along route # Maximum depth: 1938.159351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.470500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667150; longitude = -122.782494; captureRadius = 10; duration = 148; initialDepth = 1876.470500; finalDepth = 1849.677755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1876.4705 # Seafloor depth:-1921.470500 # 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 148.193144 meters # Minimum depth: 1933.101989 meters looking forward 100.000000 meters along route # Maximum depth: 1943.983833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.101989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665826; longitude = -122.782708; captureRadius = 10; duration = 148; initialDepth = 1888.101989; finalDepth = 1876.470500; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1014279999999 # Actual altitude: 53.1014279999999 # Commanded vehicle depth:1888.101989 # Seafloor depth:-1941.203417 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 127.44; MB_Bottom_Detect_Filter_Min_Depth = 26.55; MB_Bottom_Detect_Filter_Max_Depth = 127.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 105.037805 meters # Minimum depth: 1952.116155 meters looking forward 100.000000 meters along route # Maximum depth: 1955.873090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.116155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664501; longitude = -122.782923; captureRadius = 10; duration = 105; initialDepth = 1907.116155; finalDepth = 1888.101989; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1014279999999 # Actual altitude: 53.1014279999999 # Commanded vehicle depth:1907.116155 # Seafloor depth:-1952.116155 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 127.44; MB_Bottom_Detect_Filter_Min_Depth = 26.55; MB_Bottom_Detect_Filter_Max_Depth = 127.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 141.950788 meters # Minimum depth: 1954.554814 meters looking forward 100.000000 meters along route # Maximum depth: 1960.296311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1909.554814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663562; longitude = -122.783075; captureRadius = 10; duration = 141; initialDepth = 1909.554814; finalDepth = 1907.116155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6880269999999 # Actual altitude: 50 # Commanded vehicle depth:1909.554814 # Seafloor depth:-1956.242841 # 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 120.946308 meters # Minimum depth: 1943.630972 meters looking forward 100.000000 meters along route # Maximum depth: 1959.130555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.630972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662293; longitude = -122.783280; captureRadius = 10; duration = 120; initialDepth = 1898.630972; finalDepth = 1909.554814; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.499583 # Actual altitude: 60.499583 # Commanded vehicle depth:1898.630972 # Seafloor depth:-1959.130555 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 145.20; MB_Bottom_Detect_Filter_Min_Depth = 30.25; MB_Bottom_Detect_Filter_Max_Depth = 145.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 87.231858 meters # Minimum depth: 1940.017700 meters looking forward 100.000000 meters along route # Maximum depth: 1949.997133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1895.017700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661212; longitude = -122.783455; captureRadius = 10; duration = 87; initialDepth = 1895.017700; finalDepth = 1898.630972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.499583 # Actual altitude: 60.499583 # Commanded vehicle depth:1895.0177 # Seafloor depth:-1940.017700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 145.20; MB_Bottom_Detect_Filter_Min_Depth = 30.25; MB_Bottom_Detect_Filter_Max_Depth = 145.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 122.355420 meters # Minimum depth: 1972.042962 meters looking forward 100.000000 meters along route # Maximum depth: 2006.429071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1927.042962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661055; longitude = -122.784399; captureRadius = 10; duration = 122; initialDepth = 1927.042962; finalDepth = 1895.017700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1927.042962 # Seafloor depth:-1972.042962 # 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 136.418556 meters # Minimum depth: 2021.469712 meters looking forward 100.000000 meters along route # Maximum depth: 2057.043978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1976.469712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660835; longitude = -122.785724; captureRadius = 10; duration = 136; initialDepth = 1976.469712; finalDepth = 1927.042962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1976.469712 # Seafloor depth:-2021.469712 # 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 33.351431 meters # Minimum depth: 2046.904112 meters looking forward 100.000000 meters along route # Maximum depth: 2069.252563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.904112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660590; longitude = -122.787201; captureRadius = 10; duration = 33; initialDepth = 2001.904112; finalDepth = 1976.469712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3484510000001 # Actual altitude: 67.3484510000001 # Commanded vehicle depth:2001.904112 # Seafloor depth:-2069.252563 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 161.64; MB_Bottom_Detect_Filter_Min_Depth = 33.67; MB_Bottom_Detect_Filter_Max_Depth = 161.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.805820 meters # Minimum depth: 2060.621839 meters looking forward 100.000000 meters along route # Maximum depth: 2073.911846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2015.621839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660404; longitude = -122.787490; captureRadius = 10; duration = 101; initialDepth = 2015.621839; finalDepth = 2001.904112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3484510000001 # Actual altitude: 67.3484510000001 # Commanded vehicle depth:2015.621839 # Seafloor depth:-2060.621839 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.67; MB_Bottom_Detect_Filter_Max_Range = 161.64; MB_Bottom_Detect_Filter_Min_Depth = 33.67; MB_Bottom_Detect_Filter_Max_Depth = 161.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.806258 meters # Minimum depth: 2084.618476 meters looking forward 100.000000 meters along route # Maximum depth: 2088.045258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.618476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659835; longitude = -122.788373; captureRadius = 10; duration = 101; initialDepth = 2039.618476; finalDepth = 2015.621839; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2039.618476 # Seafloor depth:-2084.618476 # 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 25 # Segment length 101.806695 meters # Minimum depth: 2088.971382 meters looking forward 100.000000 meters along route # Maximum depth: 2132.631156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2043.971382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659267; longitude = -122.789257; captureRadius = 10; duration = 101; initialDepth = 2043.971382; finalDepth = 2039.618476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9732939999999 # Actual altitude: 50 # Commanded vehicle depth:2043.971382 # Seafloor depth:-2089.944676 # 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 25 # Segment length 101.807132 meters # Minimum depth: 2140.197622 meters looking forward 100.000000 meters along route # Maximum depth: 2176.344261 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2095.197622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658698; longitude = -122.790140; captureRadius = 10; duration = 101; initialDepth = 2095.197622; finalDepth = 2043.971382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9732939999999 # Actual altitude: 50 # Commanded vehicle depth:2095.197622 # Seafloor depth:-2140.197622 # 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 25 # Segment length 101.807570 meters # Minimum depth: 2199.988412 meters looking forward 100.000000 meters along route # Maximum depth: 2243.835652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2154.988412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658130; longitude = -122.791023; captureRadius = 10; duration = 101; initialDepth = 2154.988412; finalDepth = 2095.197622; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2154.988412 # Seafloor depth:-2199.988412 # 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 25 # Segment length 101.808006 meters # Minimum depth: 2267.975112 meters looking forward 100.000000 meters along route # Maximum depth: 2326.540566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2222.975112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657561; longitude = -122.791906; captureRadius = 10; duration = 101; initialDepth = 2222.975112; finalDepth = 2154.988412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2222.975112 # Seafloor depth:-2267.975112 # 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 25 # Segment length 101.808445 meters # Minimum depth: 2326.643416 meters looking forward 100.000000 meters along route # Maximum depth: 2358.772303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.656993; longitude = -122.792789; captureRadius = 10; duration = 101; initialDepth = 2250.000000; finalDepth = 2222.975112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6434159999999 # Actual altitude: 76.6434159999999 # Commanded vehicle depth:2250 # Seafloor depth:-2326.643416 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.32; MB_Bottom_Detect_Filter_Max_Range = 183.94; MB_Bottom_Detect_Filter_Min_Depth = 38.32; MB_Bottom_Detect_Filter_Max_Depth = 183.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.808881 meters # Minimum depth: 2368.965840 meters looking forward 100.000000 meters along route # Maximum depth: 2399.620763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.656424; longitude = -122.793672; captureRadius = 10; duration = 101; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.96584 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2368.965840 # 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 25 # Segment length 101.809319 meters # Minimum depth: 2405.240169 meters looking forward 100.000000 meters along route # Maximum depth: 2408.003406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.655856; longitude = -122.794555; captureRadius = 10; duration = 101; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 155.240169 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2405.240169 # 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 25 # Segment length 101.809756 meters # Minimum depth: 2404.030496 meters looking forward 100.000000 meters along route # Maximum depth: 2405.738098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.655288; longitude = -122.795438; captureRadius = 10; duration = 101; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 155.738098 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2405.738098 # 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 25 # Segment length 126.993682 meters # Minimum depth: 2403.163294 meters looking forward 100.000000 meters along route # Maximum depth: 2405.133341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.654719; longitude = -122.796321; captureRadius = 10; duration = 126; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 155.738098 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2405.133341 # 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 100.452113 meters # Minimum depth: 2388.796251 meters looking forward 100.000000 meters along route # Maximum depth: 2400.190186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.654010; longitude = -122.797423; captureRadius = 10; duration = 100; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 155.133341 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2400.190186 # 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 120.288268 meters # Minimum depth: 2353.720496 meters looking forward 100.000000 meters along route # Maximum depth: 2379.216719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.653938; longitude = -122.798529; captureRadius = 10; duration = 120; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 150.190186 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2379.216719 # 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 120.288391 meters # Minimum depth: 2330.963426 meters looking forward 100.000000 meters along route # Maximum depth: 2341.558311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.653852; longitude = -122.799854; captureRadius = 10; duration = 120; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 129.216719 # Actual altitude: 100 # Commanded vehicle depth:2250 # Seafloor depth:-2338.646548 # 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 113.456497 meters # Minimum depth: 2312.064448 meters looking forward 100.000000 meters along route # Maximum depth: 2319.421841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.653766; longitude = -122.801179; captureRadius = 10; duration = 113; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6465480000002 # Actual altitude: 88.6465480000002 # Commanded vehicle depth:2250 # Seafloor depth:-2319.421841 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.32; MB_Bottom_Detect_Filter_Max_Range = 212.75; MB_Bottom_Detect_Filter_Min_Depth = 44.32; MB_Bottom_Detect_Filter_Max_Depth = 212.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 45.188078 meters # Minimum depth: 2306.074919 meters looking forward 100.000000 meters along route # Maximum depth: 2316.658875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.653685; longitude = -122.802428; captureRadius = 10; duration = 45; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.4218409999999 # Actual altitude: 69.4218409999999 # Commanded vehicle depth:2250 # Seafloor depth:-2316.658875 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 166.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.71; MB_Bottom_Detect_Filter_Max_Range = 166.61; MB_Bottom_Detect_Filter_Min_Depth = 34.71; MB_Bottom_Detect_Filter_Max_Depth = 166.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.937867 meters # Minimum depth: 2285.938892 meters looking forward 100.000000 meters along route # Maximum depth: 2301.428380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2240.938892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653962; longitude = -122.802062; captureRadius = 10; duration = 108; initialDepth = 2240.938892; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6588750000001 # Actual altitude: 66.6588750000001 # Commanded vehicle depth:2240.938892 # Seafloor depth:-2301.428380 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.33; MB_Bottom_Detect_Filter_Max_Range = 159.98; MB_Bottom_Detect_Filter_Min_Depth = 33.33; MB_Bottom_Detect_Filter_Max_Depth = 159.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.937388 meters # Minimum depth: 2253.682056 meters looking forward 100.000000 meters along route # Maximum depth: 2276.092827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2208.682056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654629; longitude = -122.801179; captureRadius = 10; duration = 108; initialDepth = 2208.682056; finalDepth = 2240.938892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4107709999998 # Actual altitude: 67.4107709999998 # Commanded vehicle depth:2208.682056 # Seafloor depth:-2276.092827 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 161.79; MB_Bottom_Detect_Filter_Min_Depth = 33.71; MB_Bottom_Detect_Filter_Max_Depth = 161.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.936910 meters # Minimum depth: 2252.375675 meters looking forward 100.000000 meters along route # Maximum depth: 2255.825382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2207.375675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655296; longitude = -122.800295; captureRadius = 10; duration = 108; initialDepth = 2207.375675; finalDepth = 2208.682056; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.4107709999998 # Actual altitude: 67.4107709999998 # Commanded vehicle depth:2207.375675 # Seafloor depth:-2252.375675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 161.79; MB_Bottom_Detect_Filter_Min_Depth = 33.71; MB_Bottom_Detect_Filter_Max_Depth = 161.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.936432 meters # Minimum depth: 2289.540560 meters looking forward 100.000000 meters along route # Maximum depth: 2313.819034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2244.540560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655964; longitude = -122.799412; captureRadius = 10; duration = 108; initialDepth = 2244.540560; finalDepth = 2207.375675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2244.54056 # Seafloor depth:-2289.540560 # 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 108.935953 meters # Minimum depth: 2317.322280 meters looking forward 100.000000 meters along route # Maximum depth: 2325.213475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.656631; longitude = -122.798529; captureRadius = 10; duration = 108; initialDepth = 2250.000000; finalDepth = 2244.540560; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3222799999999 # Actual altitude: 67.3222799999999 # Commanded vehicle depth:2250 # Seafloor depth:-2317.322280 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.66; MB_Bottom_Detect_Filter_Max_Range = 161.57; MB_Bottom_Detect_Filter_Min_Depth = 33.66; MB_Bottom_Detect_Filter_Max_Depth = 161.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.935475 meters # Minimum depth: 2316.734004 meters looking forward 100.000000 meters along route # Maximum depth: 2325.168923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.657298; longitude = -122.797646; captureRadius = 10; duration = 108; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1689230000002 # Actual altitude: 75.1689230000002 # Commanded vehicle depth:2250 # Seafloor depth:-2325.168923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 180.41; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.934996 meters # Minimum depth: 2309.522029 meters looking forward 100.000000 meters along route # Maximum depth: 2316.325621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.657966; longitude = -122.796763; captureRadius = 10; duration = 108; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.1689230000002 # Actual altitude: 75.1689230000002 # Commanded vehicle depth:2250 # Seafloor depth:-2316.325621 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.58; MB_Bottom_Detect_Filter_Max_Range = 180.41; MB_Bottom_Detect_Filter_Min_Depth = 37.58; MB_Bottom_Detect_Filter_Max_Depth = 180.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.934518 meters # Minimum depth: 2316.076181 meters looking forward 100.000000 meters along route # Maximum depth: 2325.574897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.658633; longitude = -122.795880; captureRadius = 10; duration = 108; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.325621 # Actual altitude: 66.325621 # Commanded vehicle depth:2250 # Seafloor depth:-2316.076181 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.16; MB_Bottom_Detect_Filter_Max_Range = 159.18; MB_Bottom_Detect_Filter_Min_Depth = 33.16; MB_Bottom_Detect_Filter_Max_Depth = 159.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.934039 meters # Minimum depth: 2313.529250 meters looking forward 100.000000 meters along route # Maximum depth: 2317.040126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.659300; longitude = -122.794997; captureRadius = 10; duration = 108; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0401259999999 # Actual altitude: 67.0401259999999 # Commanded vehicle depth:2250 # Seafloor depth:-2317.040126 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 160.90; MB_Bottom_Detect_Filter_Min_Depth = 33.52; MB_Bottom_Detect_Filter_Max_Depth = 160.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.933561 meters # Minimum depth: 2301.941542 meters looking forward 100.000000 meters along route # Maximum depth: 2307.999622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.659967; longitude = -122.794114; captureRadius = 10; duration = 108; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0401259999999 # Actual altitude: 67.0401259999999 # Commanded vehicle depth:2250 # Seafloor depth:-2307.999622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.52; MB_Bottom_Detect_Filter_Max_Range = 160.90; MB_Bottom_Detect_Filter_Min_Depth = 33.52; MB_Bottom_Detect_Filter_Max_Depth = 160.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.933083 meters # Minimum depth: 2285.620254 meters looking forward 100.000000 meters along route # Maximum depth: 2298.129252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2240.620254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660635; longitude = -122.793231; captureRadius = 10; duration = 108; initialDepth = 2240.620254; finalDepth = 2250.000000; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.9996219999998 # Actual altitude: 57.9996219999998 # Commanded vehicle depth:2240.620254 # Seafloor depth:-2298.129252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 139.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.00; MB_Bottom_Detect_Filter_Max_Range = 139.20; MB_Bottom_Detect_Filter_Min_Depth = 29.00; MB_Bottom_Detect_Filter_Max_Depth = 139.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.932604 meters # Minimum depth: 2211.847948 meters looking forward 100.000000 meters along route # Maximum depth: 2264.525540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.847948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661302; longitude = -122.792347; captureRadius = 10; duration = 108; initialDepth = 2166.847948; finalDepth = 2240.620254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.677592 # Actual altitude: 97.677592 # Commanded vehicle depth:2166.847948 # Seafloor depth:-2264.525540 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.84; MB_Bottom_Detect_Filter_Max_Range = 234.43; MB_Bottom_Detect_Filter_Min_Depth = 48.84; MB_Bottom_Detect_Filter_Max_Depth = 234.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.932126 meters # Minimum depth: 2211.049516 meters looking forward 100.000000 meters along route # Maximum depth: 2211.644609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2166.049516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661969; longitude = -122.791464; captureRadius = 10; duration = 108; initialDepth = 2166.049516; finalDepth = 2166.847948; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.677592 # Actual altitude: 97.677592 # Commanded vehicle depth:2166.049516 # Seafloor depth:-2211.644609 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.84; MB_Bottom_Detect_Filter_Max_Range = 234.43; MB_Bottom_Detect_Filter_Min_Depth = 48.84; MB_Bottom_Detect_Filter_Max_Depth = 234.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.931648 meters # Minimum depth: 2209.918409 meters looking forward 100.000000 meters along route # Maximum depth: 2213.766447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2164.918409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662637; longitude = -122.790581; captureRadius = 10; duration = 108; initialDepth = 2164.918409; finalDepth = 2166.049516; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9939960000002 # Actual altitude: 50 # Commanded vehicle depth:2164.918409 # Seafloor depth:-2210.912405 # 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 108.931169 meters # Minimum depth: 2212.420324 meters looking forward 100.000000 meters along route # Maximum depth: 2227.285458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2167.420324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663304; longitude = -122.789698; captureRadius = 10; duration = 108; initialDepth = 2167.420324; finalDepth = 2164.918409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.9939960000002 # Actual altitude: 50 # Commanded vehicle depth:2167.420324 # Seafloor depth:-2212.420324 # 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 108.930691 meters # Minimum depth: 2208.477762 meters looking forward 100.000000 meters along route # Maximum depth: 2225.017281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2163.477762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663971; longitude = -122.788815; captureRadius = 10; duration = 108; initialDepth = 2163.477762; finalDepth = 2167.420324; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.5395189999999 # Actual altitude: 61.5395189999999 # Commanded vehicle depth:2163.477762 # Seafloor depth:-2225.017281 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 147.69; MB_Bottom_Detect_Filter_Min_Depth = 30.77; MB_Bottom_Detect_Filter_Max_Depth = 147.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.930212 meters # Minimum depth: 2173.896681 meters looking forward 100.000000 meters along route # Maximum depth: 2198.782765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2128.896681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664638; longitude = -122.787932; captureRadius = 10; duration = 108; initialDepth = 2128.896681; finalDepth = 2163.477762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8860839999998 # Actual altitude: 69.8860839999998 # Commanded vehicle depth:2128.896681 # Seafloor depth:-2198.782765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 167.73; 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 = 167.73; MB_Bottom_Detect_Filter_Min_Depth = 34.94; MB_Bottom_Detect_Filter_Max_Depth = 167.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.929735 meters # Minimum depth: 2107.094943 meters looking forward 100.000000 meters along route # Maximum depth: 2146.103803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.094943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665306; longitude = -122.787049; captureRadius = 10; duration = 108; initialDepth = 2062.094943; finalDepth = 2128.896681; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0088599999999 # Actual altitude: 84.0088599999999 # Commanded vehicle depth:2062.094943 # Seafloor depth:-2146.103803 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.00; MB_Bottom_Detect_Filter_Max_Range = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 42.00; MB_Bottom_Detect_Filter_Max_Depth = 201.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.929256 meters # Minimum depth: 2068.233113 meters looking forward 100.000000 meters along route # Maximum depth: 2092.848692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2023.233113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665973; longitude = -122.786166; captureRadius = 10; duration = 108; initialDepth = 2023.233113; finalDepth = 2062.094943; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.0088599999999 # Actual altitude: 84.0088599999999 # Commanded vehicle depth:2023.233113 # Seafloor depth:-2092.848692 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.00; MB_Bottom_Detect_Filter_Max_Range = 201.62; MB_Bottom_Detect_Filter_Min_Depth = 42.00; MB_Bottom_Detect_Filter_Max_Depth = 201.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.928777 meters # Minimum depth: 2008.503561 meters looking forward 100.000000 meters along route # Maximum depth: 2045.515717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.503561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666640; longitude = -122.785283; captureRadius = 10; duration = 108; initialDepth = 1963.503561; finalDepth = 2023.233113; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.012156 # Actual altitude: 82.012156 # Commanded vehicle depth:1963.503561 # Seafloor depth:-2045.515717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.01; MB_Bottom_Detect_Filter_Max_Range = 196.83; MB_Bottom_Detect_Filter_Min_Depth = 41.01; MB_Bottom_Detect_Filter_Max_Depth = 196.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.928300 meters # Minimum depth: 1980.850076 meters looking forward 100.000000 meters along route # Maximum depth: 1996.869090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1935.850076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667308; longitude = -122.784399; captureRadius = 10; duration = 108; initialDepth = 1935.850076; finalDepth = 1963.503561; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.012156 # Actual altitude: 82.012156 # Commanded vehicle depth:1935.850076 # Seafloor depth:-1996.869090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.01; MB_Bottom_Detect_Filter_Max_Range = 196.83; MB_Bottom_Detect_Filter_Min_Depth = 41.01; MB_Bottom_Detect_Filter_Max_Depth = 196.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.927821 meters # Minimum depth: 1923.836095 meters looking forward 100.000000 meters along route # Maximum depth: 1959.142596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.836095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667975; longitude = -122.783516; captureRadius = 10; duration = 108; initialDepth = 1878.836095; finalDepth = 1935.850076; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.306501 # Actual altitude: 80.306501 # Commanded vehicle depth:1878.836095 # Seafloor depth:-1959.142596 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 192.74; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 192.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 116.861328 meters # Minimum depth: 1891.227155 meters looking forward 100.000000 meters along route # Maximum depth: 1914.631854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.227155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668642; longitude = -122.782633; captureRadius = 10; duration = 116; initialDepth = 1846.227155; finalDepth = 1878.836095; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.306501 # Actual altitude: 80.306501 # Commanded vehicle depth:1846.227155 # Seafloor depth:-1914.631854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.15; MB_Bottom_Detect_Filter_Max_Range = 192.74; MB_Bottom_Detect_Filter_Min_Depth = 40.15; MB_Bottom_Detect_Filter_Max_Depth = 192.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.992880 meters # Minimum depth: 1890.269183 meters looking forward 100.000000 meters along route # Maximum depth: 1899.951237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.269183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669358; longitude = -122.781686; captureRadius = 10; duration = 100; initialDepth = 1845.269183; finalDepth = 1846.227155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.4046989999999 # Actual altitude: 68.4046989999999 # Commanded vehicle depth:1845.269183 # Seafloor depth:-1890.269183 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 164.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 164.17; MB_Bottom_Detect_Filter_Min_Depth = 34.20; MB_Bottom_Detect_Filter_Max_Depth = 164.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 115.243290 meters # Minimum depth: 1894.961629 meters looking forward 100.000000 meters along route # Maximum depth: 1906.479774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1849.961629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669977; longitude = -122.780867; captureRadius = 10; duration = 115; initialDepth = 1849.961629; finalDepth = 1845.269183; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.6659650000001 # Actual altitude: 53.6659650000001 # Commanded vehicle depth:1849.961629 # Seafloor depth:-1903.627594 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 128.80; MB_Bottom_Detect_Filter_Min_Depth = 26.83; MB_Bottom_Detect_Filter_Max_Depth = 128.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.609005 meters # Minimum depth: 1879.644198 meters looking forward 100.000000 meters along route # Maximum depth: 1893.342482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.644198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670683; longitude = -122.779933; captureRadius = 10; duration = 102; initialDepth = 1834.644198; finalDepth = 1849.961629; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6982840000001 # Actual altitude: 58.6982840000001 # Commanded vehicle depth:1834.644198 # Seafloor depth:-1893.342482 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.35; MB_Bottom_Detect_Filter_Max_Range = 140.88; MB_Bottom_Detect_Filter_Min_Depth = 29.35; MB_Bottom_Detect_Filter_Max_Depth = 140.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 113.625280 meters # Minimum depth: 1869.854179 meters looking forward 100.000000 meters along route # Maximum depth: 1882.891222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1824.854179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671311; longitude = -122.779101; captureRadius = 10; duration = 113; initialDepth = 1824.854179; finalDepth = 1834.644198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6982840000001 # Actual altitude: 58.6982840000001 # Commanded vehicle depth:1824.854179 # Seafloor depth:-1878.864630 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.35; MB_Bottom_Detect_Filter_Max_Range = 140.88; MB_Bottom_Detect_Filter_Min_Depth = 29.35; MB_Bottom_Detect_Filter_Max_Depth = 140.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 104.225102 meters # Minimum depth: 1839.337055 meters looking forward 100.000000 meters along route # Maximum depth: 1868.106107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.337055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672007; longitude = -122.778180; captureRadius = 10; duration = 104; initialDepth = 1794.337055; finalDepth = 1824.854179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.7690520000001 # Actual altitude: 73.7690520000001 # Commanded vehicle depth:1794.337055 # Seafloor depth:-1868.106107 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.88; MB_Bottom_Detect_Filter_Max_Range = 177.05; MB_Bottom_Detect_Filter_Min_Depth = 36.88; MB_Bottom_Detect_Filter_Max_Depth = 177.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 112.007299 meters # Minimum depth: 1783.597407 meters looking forward 100.000000 meters along route # Maximum depth: 1826.476886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.597407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672646; longitude = -122.777335; captureRadius = 10; duration = 112; initialDepth = 1738.597407; finalDepth = 1794.337055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8794789999999 # Actual altitude: 87.8794789999999 # Commanded vehicle depth:1738.597407 # Seafloor depth:-1826.476886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.94; MB_Bottom_Detect_Filter_Max_Range = 210.91; MB_Bottom_Detect_Filter_Min_Depth = 43.94; MB_Bottom_Detect_Filter_Max_Depth = 210.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.841170 meters # Minimum depth: 1774.677783 meters looking forward 100.000000 meters along route # Maximum depth: 1782.832021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.677783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673332; longitude = -122.776426; captureRadius = 10; duration = 105; initialDepth = 1729.677783; finalDepth = 1738.597407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.8794789999999 # Actual altitude: 87.8794789999999 # Commanded vehicle depth:1729.677783 # Seafloor depth:-1782.832021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.94; MB_Bottom_Detect_Filter_Max_Range = 210.91; MB_Bottom_Detect_Filter_Min_Depth = 43.94; MB_Bottom_Detect_Filter_Max_Depth = 210.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 110.389347 meters # Minimum depth: 1733.082852 meters looking forward 100.000000 meters along route # Maximum depth: 1760.806429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.082852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673980; longitude = -122.775568; captureRadius = 10; duration = 110; initialDepth = 1688.082852; finalDepth = 1729.677783; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.723577 # Actual altitude: 72.723577 # Commanded vehicle depth:1688.082852 # Seafloor depth:-1760.806429 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.36; MB_Bottom_Detect_Filter_Max_Range = 174.54; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 107.457210 meters # Minimum depth: 1732.888884 meters looking forward 100.000000 meters along route # Maximum depth: 1739.165892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.888884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674657; longitude = -122.774673; captureRadius = 10; duration = 107; initialDepth = 1687.888884; finalDepth = 1688.082852; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.723577 # Actual altitude: 72.723577 # Commanded vehicle depth:1687.888884 # Seafloor depth:-1732.888884 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.36; MB_Bottom_Detect_Filter_Max_Range = 174.54; MB_Bottom_Detect_Filter_Min_Depth = 36.36; MB_Bottom_Detect_Filter_Max_Depth = 174.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 108.922561 meters # Minimum depth: 1752.341563 meters looking forward 100.000000 meters along route # Maximum depth: 1770.392857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.341563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675315; longitude = -122.773802; captureRadius = 10; duration = 108; initialDepth = 1707.341563; finalDepth = 1687.888884; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1707.341563 # Seafloor depth:-1752.341563 # 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 108.922083 meters # Minimum depth: 1767.559067 meters looking forward 100.000000 meters along route # Maximum depth: 1770.170173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.559067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675982; longitude = -122.772919; captureRadius = 10; duration = 108; initialDepth = 1722.559067; finalDepth = 1707.341563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6111060000001 # Actual altitude: 50 # Commanded vehicle depth:1722.559067 # Seafloor depth:-1770.170173 # 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 132.936410 meters # Minimum depth: 1754.866319 meters looking forward 100.000000 meters along route # Maximum depth: 1765.925560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.866319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676650; longitude = -122.772036; captureRadius = 10; duration = 132; initialDepth = 1709.866319; finalDepth = 1722.559067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0592409999999 # Actual altitude: 56.0592409999999 # Commanded vehicle depth:1709.866319 # Seafloor depth:-1765.925560 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.03; MB_Bottom_Detect_Filter_Max_Range = 134.54; MB_Bottom_Detect_Filter_Min_Depth = 28.03; MB_Bottom_Detect_Filter_Max_Depth = 134.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 23.492437 meters # Minimum depth: 1754.866319 meters looking forward 100.000000 meters along route # Maximum depth: 1758.380219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.866319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677464; longitude = -122.770958; captureRadius = 10; duration = 23; initialDepth = 1709.866319; finalDepth = 1709.866319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.0592409999999 # Actual altitude: 56.0592409999999 # Commanded vehicle depth:1709.866319 # Seafloor depth:-1758.380219 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.03; MB_Bottom_Detect_Filter_Max_Range = 134.54; MB_Bottom_Detect_Filter_Min_Depth = 28.03; MB_Bottom_Detect_Filter_Max_Depth = 134.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 126.068071 meters # Minimum depth: 1746.403075 meters looking forward 100.000000 meters along route # Maximum depth: 1754.184996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1701.403075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677398; longitude = -122.770711; captureRadius = 10; duration = 126; initialDepth = 1701.403075; finalDepth = 1709.866319; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.781921 # Actual altitude: 52.781921 # Commanded vehicle depth:1701.403075 # Seafloor depth:-1754.184996 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 126.68; MB_Bottom_Detect_Filter_Min_Depth = 26.39; MB_Bottom_Detect_Filter_Max_Depth = 126.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 126.068578 meters # Minimum depth: 1738.416760 meters looking forward 100.000000 meters along route # Maximum depth: 1748.191699 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.416760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677047; longitude = -122.769386; captureRadius = 10; duration = 126; initialDepth = 1693.416760; finalDepth = 1701.403075; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.781921 # Actual altitude: 52.781921 # Commanded vehicle depth:1693.41676 # Seafloor depth:-1738.416760 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 126.68; MB_Bottom_Detect_Filter_Min_Depth = 26.39; MB_Bottom_Detect_Filter_Max_Depth = 126.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 126.069087 meters # Minimum depth: 1716.382310 meters looking forward 100.000000 meters along route # Maximum depth: 1740.211506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.382310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676695; longitude = -122.768062; captureRadius = 10; duration = 126; initialDepth = 1671.382310; finalDepth = 1693.416760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.8291960000001 # Actual altitude: 68.8291960000001 # Commanded vehicle depth:1671.38231 # Seafloor depth:-1740.211506 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 165.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.41; MB_Bottom_Detect_Filter_Max_Range = 165.19; MB_Bottom_Detect_Filter_Min_Depth = 34.41; MB_Bottom_Detect_Filter_Max_Depth = 165.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 129.459829 meters # Minimum depth: 1665.601755 meters looking forward 100.000000 meters along route # Maximum depth: 1709.993648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.601755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676343; longitude = -122.766737; captureRadius = 10; duration = 129; initialDepth = 1620.601755; finalDepth = 1671.382310; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.391893 # Actual altitude: 89.391893 # Commanded vehicle depth:1620.601755 # Seafloor depth:-1709.993648 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.70; MB_Bottom_Detect_Filter_Max_Range = 214.54; MB_Bottom_Detect_Filter_Min_Depth = 44.70; MB_Bottom_Detect_Filter_Max_Depth = 214.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 122.679866 meters # Minimum depth: 1636.197887 meters looking forward 100.000000 meters along route # Maximum depth: 1664.313829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.197887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675981; longitude = -122.765377; captureRadius = 10; duration = 122; initialDepth = 1591.197887; finalDepth = 1620.601755; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.391893 # Actual altitude: 89.391893 # Commanded vehicle depth:1591.197887 # Seafloor depth:-1664.313829 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.70; MB_Bottom_Detect_Filter_Max_Range = 214.54; MB_Bottom_Detect_Filter_Min_Depth = 44.70; MB_Bottom_Detect_Filter_Max_Depth = 214.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 106.382407 meters # Minimum depth: 1591.715174 meters looking forward 100.000000 meters along route # Maximum depth: 1607.821132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.715174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675639; longitude = -122.764088; captureRadius = 10; duration = 106; initialDepth = 1546.715174; finalDepth = 1591.197887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1159419999999 # Actual altitude: 73.1159419999999 # Commanded vehicle depth:1546.715174 # Seafloor depth:-1607.821132 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 175.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.56; MB_Bottom_Detect_Filter_Max_Range = 175.48; MB_Bottom_Detect_Filter_Min_Depth = 36.56; MB_Bottom_Detect_Filter_Max_Depth = 175.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 78.609131 meters # Minimum depth: 1601.521423 meters looking forward 100.000000 meters along route # Maximum depth: 1614.394527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.521423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675342; longitude = -122.762970; captureRadius = 10; duration = 78; initialDepth = 1556.521423; finalDepth = 1546.715174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.1059580000001 # Actual altitude: 61.1059580000001 # Commanded vehicle depth:1556.521423 # Seafloor depth:-1601.521423 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 146.65; MB_Bottom_Detect_Filter_Min_Depth = 30.55; MB_Bottom_Detect_Filter_Max_Depth = 146.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.059794 meters # Minimum depth: 1635.739420 meters looking forward 100.000000 meters along route # Maximum depth: 1668.502260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.739420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675814; longitude = -122.762322; captureRadius = 10; duration = 107; initialDepth = 1590.739420; finalDepth = 1556.521423; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1590.73942 # Seafloor depth:-1635.739420 # 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 21 # Segment length 107.059324 meters # Minimum depth: 1670.512858 meters looking forward 100.000000 meters along route # Maximum depth: 1678.577877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.512858 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676456; longitude = -122.761438; captureRadius = 10; duration = 107; initialDepth = 1625.512858; finalDepth = 1590.739420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1625.512858 # Seafloor depth:-1670.512858 # 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 21 # Segment length 108.230214 meters # Minimum depth: 1683.827152 meters looking forward 100.000000 meters along route # Maximum depth: 1712.651827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.827152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677098; longitude = -122.760555; captureRadius = 10; duration = 108; initialDepth = 1638.827152; finalDepth = 1625.512858; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1638.827152 # Seafloor depth:-1683.827152 # 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 21 # Segment length 105.887031 meters # Minimum depth: 1713.003067 meters looking forward 100.000000 meters along route # Maximum depth: 1736.399764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.003067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677748; longitude = -122.759663; captureRadius = 10; duration = 105; initialDepth = 1668.003067; finalDepth = 1638.827152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1668.003067 # Seafloor depth:-1713.003067 # 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 21 # Segment length 114.902171 meters # Minimum depth: 1742.861046 meters looking forward 100.000000 meters along route # Maximum depth: 1757.733391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1697.861046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678383; longitude = -122.758789; captureRadius = 10; duration = 114; initialDepth = 1697.861046; finalDepth = 1668.003067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1697.861046 # Seafloor depth:-1742.861046 # 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 21 # Segment length 113.626040 meters # Minimum depth: 1758.487291 meters looking forward 100.000000 meters along route # Maximum depth: 1769.394235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.487291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679072; longitude = -122.757841; captureRadius = 10; duration = 113; initialDepth = 1713.487291; finalDepth = 1697.861046; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1713.487291 # Seafloor depth:-1758.487291 # 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 20 # Segment length 23.161029 meters # Minimum depth: 1764.804626 meters looking forward 100.000000 meters along route # Maximum depth: 1769.394235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.804626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679754; longitude = -122.756904; captureRadius = 10; duration = 23; initialDepth = 1719.804626; finalDepth = 1713.487291; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1719.804626 # Seafloor depth:-1764.804626 # 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 101.565180 meters # Minimum depth: 1750.530892 meters looking forward 100.000000 meters along route # Maximum depth: 1760.402909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.530892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679955; longitude = -122.756972; captureRadius = 10; duration = 101; initialDepth = 1705.530892; finalDepth = 1719.804626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8720169999999 # Actual altitude: 54.8720169999999 # Commanded vehicle depth:1705.530892 # Seafloor depth:-1760.402909 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 131.69; MB_Bottom_Detect_Filter_Min_Depth = 27.44; MB_Bottom_Detect_Filter_Max_Depth = 131.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.565114 meters # Minimum depth: 1707.486009 meters looking forward 100.000000 meters along route # Maximum depth: 1736.625187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.486009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680838; longitude = -122.757269; captureRadius = 10; duration = 101; initialDepth = 1662.486009; finalDepth = 1705.530892; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1391780000001 # Actual altitude: 74.1391780000001 # Commanded vehicle depth:1662.486009 # Seafloor depth:-1736.625187 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 177.93; MB_Bottom_Detect_Filter_Min_Depth = 37.07; MB_Bottom_Detect_Filter_Max_Depth = 177.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.565048 meters # Minimum depth: 1660.650323 meters looking forward 100.000000 meters along route # Maximum depth: 1678.855578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.650323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681722; longitude = -122.757566; captureRadius = 10; duration = 101; initialDepth = 1615.650323; finalDepth = 1662.486009; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.1391780000001 # Actual altitude: 74.1391780000001 # Commanded vehicle depth:1615.650323 # Seafloor depth:-1678.855578 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.07; MB_Bottom_Detect_Filter_Max_Range = 177.93; MB_Bottom_Detect_Filter_Min_Depth = 37.07; MB_Bottom_Detect_Filter_Max_Depth = 177.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 101.564982 meters # Minimum depth: 1644.196574 meters looking forward 100.000000 meters along route # Maximum depth: 1660.608090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1599.196574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682605; longitude = -122.757863; captureRadius = 10; duration = 101; initialDepth = 1599.196574; finalDepth = 1615.650323; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.2052549999999 # Actual altitude: 63.2052549999999 # Commanded vehicle depth:1599.196574 # Seafloor depth:-1660.608090 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 151.69; MB_Bottom_Detect_Filter_Min_Depth = 31.60; MB_Bottom_Detect_Filter_Max_Depth = 151.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 117.786344 meters # Minimum depth: 1630.835096 meters looking forward 100.000000 meters along route # Maximum depth: 1643.669085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.835096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683488; longitude = -122.758160; captureRadius = 10; duration = 117; initialDepth = 1585.835096; finalDepth = 1599.196574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.4115159999999 # Actual altitude: 61.4115159999999 # Commanded vehicle depth:1585.835096 # Seafloor depth:-1643.669085 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.71; MB_Bottom_Detect_Filter_Max_Range = 147.39; MB_Bottom_Detect_Filter_Min_Depth = 30.71; MB_Bottom_Detect_Filter_Max_Depth = 147.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 37.310198 meters # Minimum depth: 1628.022527 meters looking forward 100.000000 meters along route # Maximum depth: 1639.484219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.022527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684512; longitude = -122.758504; captureRadius = 10; duration = 37; initialDepth = 1583.022527; finalDepth = 1585.835096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.833989 # Actual altitude: 57.833989 # Commanded vehicle depth:1583.022527 # Seafloor depth:-1630.481934 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 138.80; MB_Bottom_Detect_Filter_Min_Depth = 28.92; MB_Bottom_Detect_Filter_Max_Depth = 138.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.643794 meters # Minimum depth: 1601.742011 meters looking forward 100.000000 meters along route # Maximum depth: 1627.851232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1556.742011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684813; longitude = -122.758319; captureRadius = 10; duration = 109; initialDepth = 1556.742011; finalDepth = 1583.022527; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1092209999999 # Actual altitude: 71.1092209999999 # Commanded vehicle depth:1556.742011 # Seafloor depth:-1627.851232 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 170.66; MB_Bottom_Detect_Filter_Min_Depth = 35.55; MB_Bottom_Detect_Filter_Max_Depth = 170.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.643565 meters # Minimum depth: 1581.928965 meters looking forward 100.000000 meters along route # Maximum depth: 1597.348098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.928965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685696; longitude = -122.757774; captureRadius = 10; duration = 109; initialDepth = 1536.928965; finalDepth = 1556.742011; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.1092209999999 # Actual altitude: 71.1092209999999 # Commanded vehicle depth:1536.928965 # Seafloor depth:-1597.348098 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 170.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.55; MB_Bottom_Detect_Filter_Max_Range = 170.66; MB_Bottom_Detect_Filter_Min_Depth = 35.55; MB_Bottom_Detect_Filter_Max_Depth = 170.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.643337 meters # Minimum depth: 1521.053112 meters looking forward 100.000000 meters along route # Maximum depth: 1559.991294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.053112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686579; longitude = -122.757229; captureRadius = 10; duration = 109; initialDepth = 1476.053112; finalDepth = 1536.928965; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.9381819999999 # Actual altitude: 83.9381819999999 # Commanded vehicle depth:1476.053112 # Seafloor depth:-1559.991294 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.97; MB_Bottom_Detect_Filter_Max_Range = 201.45; MB_Bottom_Detect_Filter_Min_Depth = 41.97; MB_Bottom_Detect_Filter_Max_Depth = 201.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.736128 meters # Minimum depth: 1449.913317 meters looking forward 100.000000 meters along route # Maximum depth: 1499.882825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1404.913317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687462; longitude = -122.756685; captureRadius = 10; duration = 109; initialDepth = 1404.913317; finalDepth = 1476.053112; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.9695079999999 # Actual altitude: 94.9695079999999 # Commanded vehicle depth:1404.913317 # Seafloor depth:-1499.882825 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.48; MB_Bottom_Detect_Filter_Max_Range = 227.93; MB_Bottom_Detect_Filter_Min_Depth = 47.48; MB_Bottom_Detect_Filter_Max_Depth = 227.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 109.549860 meters # Minimum depth: 1411.677962 meters looking forward 100.000000 meters along route # Maximum depth: 1449.897301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1366.677962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688346; longitude = -122.756140; captureRadius = 10; duration = 109; initialDepth = 1366.677962; finalDepth = 1404.913317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.9695079999999 # Actual altitude: 94.9695079999999 # Commanded vehicle depth:1366.677962 # Seafloor depth:-1449.897301 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 47.48; MB_Bottom_Detect_Filter_Max_Range = 227.93; MB_Bottom_Detect_Filter_Min_Depth = 47.48; MB_Bottom_Detect_Filter_Max_Depth = 227.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 137.429495 meters # Minimum depth: 1397.584558 meters looking forward 100.000000 meters along route # Maximum depth: 1403.021171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.584558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689228; longitude = -122.755596; captureRadius = 10; duration = 137; initialDepth = 1352.584558; finalDepth = 1366.677962; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.219339 # Actual altitude: 83.219339 # Commanded vehicle depth:1352.584558 # Seafloor depth:-1403.021171 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.61; MB_Bottom_Detect_Filter_Max_Range = 199.73; MB_Bottom_Detect_Filter_Min_Depth = 41.61; MB_Bottom_Detect_Filter_Max_Depth = 199.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 56.850792 meters # Minimum depth: 1393.248627 meters looking forward 100.000000 meters along route # Maximum depth: 1400.655476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.248627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690335; longitude = -122.754913; captureRadius = 10; duration = 56; initialDepth = 1348.248627; finalDepth = 1352.584558; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4366130000001 # Actual altitude: 50.4366130000001 # Commanded vehicle depth:1348.248627 # Seafloor depth:-1393.248627 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 121.05; MB_Bottom_Detect_Filter_Min_Depth = 25.22; MB_Bottom_Detect_Filter_Max_Depth = 121.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 112.162510 meters # Minimum depth: 1409.350972 meters looking forward 100.000000 meters along route # Maximum depth: 1456.154980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.350972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690111; longitude = -122.755478; captureRadius = 10; duration = 112; initialDepth = 1364.350972; finalDepth = 1348.248627; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1364.350972 # Seafloor depth:-1409.350972 # 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 18 # Segment length 132.001958 meters # Minimum depth: 1456.688237 meters looking forward 100.000000 meters along route # Maximum depth: 1511.638694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.688237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689670; longitude = -122.756594; captureRadius = 10; duration = 132; initialDepth = 1411.688237; finalDepth = 1364.350972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1411.688237 # Seafloor depth:-1456.688237 # 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 18 # Segment length 129.035661 meters # Minimum depth: 1517.873089 meters looking forward 100.000000 meters along route # Maximum depth: 1551.915066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.873089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689150; longitude = -122.757906; captureRadius = 10; duration = 129; initialDepth = 1472.873089; finalDepth = 1411.688237; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1472.873089 # Seafloor depth:-1517.873089 # 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 17 # Segment length 19.774334 meters # Minimum depth: 1551.253537 meters looking forward 100.000000 meters along route # Maximum depth: 1555.539581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1506.253537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688642; longitude = -122.759189; captureRadius = 10; duration = 19; initialDepth = 1506.253537; finalDepth = 1472.873089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2860439999999 # Actual altitude: 50 # Commanded vehicle depth:1506.253537 # Seafloor depth:-1555.539581 # 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 17 # Segment length 120.833156 meters # Minimum depth: 1510.774481 meters looking forward 100.000000 meters along route # Maximum depth: 1554.785001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.774481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688787; longitude = -122.759061; captureRadius = 10; duration = 120; initialDepth = 1465.774481; finalDepth = 1506.253537; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.01052 # Actual altitude: 89.01052 # Commanded vehicle depth:1465.774481 # Seafloor depth:-1554.785001 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.51; MB_Bottom_Detect_Filter_Max_Range = 213.63; MB_Bottom_Detect_Filter_Min_Depth = 44.51; MB_Bottom_Detect_Filter_Max_Depth = 213.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 125.842007 meters # Minimum depth: 1459.813780 meters looking forward 100.000000 meters along route # Maximum depth: 1505.726014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1414.813780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689670; longitude = -122.758279; captureRadius = 10; duration = 125; initialDepth = 1414.813780; finalDepth = 1465.774481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.9122340000001 # Actual altitude: 90.9122340000001 # Commanded vehicle depth:1414.81378 # Seafloor depth:-1505.726014 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.46; MB_Bottom_Detect_Filter_Max_Range = 218.19; MB_Bottom_Detect_Filter_Min_Depth = 45.46; MB_Bottom_Detect_Filter_Max_Depth = 218.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 136.443399 meters # Minimum depth: 1424.030194 meters looking forward 100.000000 meters along route # Maximum depth: 1457.860530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.030194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690589; longitude = -122.757464; captureRadius = 10; duration = 136; initialDepth = 1379.030194; finalDepth = 1414.813780; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.9122340000001 # Actual altitude: 90.9122340000001 # Commanded vehicle depth:1379.030194 # Seafloor depth:-1457.860530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.46; MB_Bottom_Detect_Filter_Max_Range = 218.19; MB_Bottom_Detect_Filter_Min_Depth = 45.46; MB_Bottom_Detect_Filter_Max_Depth = 218.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.211418 meters # Minimum depth: 1424.381643 meters looking forward 100.000000 meters along route # Maximum depth: 1428.605828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.381643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691587; longitude = -122.756581; captureRadius = 10; duration = 100; initialDepth = 1379.381643; finalDepth = 1379.030194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.830336 # Actual altitude: 78.830336 # Commanded vehicle depth:1379.381643 # Seafloor depth:-1426.147719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 189.19; MB_Bottom_Detect_Filter_Min_Depth = 39.42; MB_Bottom_Detect_Filter_Max_Depth = 189.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 131.902006 meters # Minimum depth: 1438.124846 meters looking forward 100.000000 meters along route # Maximum depth: 1475.954565 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.124846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692319; longitude = -122.755933; captureRadius = 10; duration = 131; initialDepth = 1393.124846; finalDepth = 1379.381643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.7660760000001 # Actual altitude: 50 # Commanded vehicle depth:1393.124846 # Seafloor depth:-1438.124846 # 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 16 # Segment length 30.024693 meters # Minimum depth: 1475.223162 meters looking forward 100.000000 meters along route # Maximum depth: 1486.829010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1430.223162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693283; longitude = -122.755079; captureRadius = 10; duration = 30; initialDepth = 1430.223162; finalDepth = 1393.124846; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6058479999999 # Actual altitude: 56.6058479999999 # Commanded vehicle depth:1430.223162 # Seafloor depth:-1486.829010 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 135.85; MB_Bottom_Detect_Filter_Min_Depth = 28.30; MB_Bottom_Detect_Filter_Max_Depth = 135.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.477081 meters # Minimum depth: 1482.434549 meters looking forward 100.000000 meters along route # Maximum depth: 1492.283588 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1437.434549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693447; longitude = -122.754815; captureRadius = 10; duration = 100; initialDepth = 1437.434549; finalDepth = 1430.223162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6058479999999 # Actual altitude: 56.6058479999999 # Commanded vehicle depth:1437.434549 # Seafloor depth:-1482.434549 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.30; MB_Bottom_Detect_Filter_Max_Range = 135.85; MB_Bottom_Detect_Filter_Min_Depth = 28.30; MB_Bottom_Detect_Filter_Max_Depth = 135.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.476652 meters # Minimum depth: 1507.489234 meters looking forward 100.000000 meters along route # Maximum depth: 1540.651954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.489234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693996; longitude = -122.753932; captureRadius = 10; duration = 100; initialDepth = 1462.489234; finalDepth = 1437.434549; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1462.489234 # Seafloor depth:-1507.489234 # 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 100.476225 meters # Minimum depth: 1542.088978 meters looking forward 100.000000 meters along route # Maximum depth: 1563.095077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.088978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694546; longitude = -122.753049; captureRadius = 10; duration = 100; initialDepth = 1497.088978; finalDepth = 1462.489234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.088978 # Seafloor depth:-1542.088978 # 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 100.475797 meters # Minimum depth: 1572.700115 meters looking forward 100.000000 meters along route # Maximum depth: 1582.496726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1527.700115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695095; longitude = -122.752166; captureRadius = 10; duration = 100; initialDepth = 1527.700115; finalDepth = 1497.088978; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1527.700115 # Seafloor depth:-1572.700115 # 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 100.475368 meters # Minimum depth: 1582.426680 meters looking forward 100.000000 meters along route # Maximum depth: 1586.688373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.426680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695644; longitude = -122.751283; captureRadius = 10; duration = 100; initialDepth = 1537.426680; finalDepth = 1527.700115; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2616929999999 # Actual altitude: 50 # Commanded vehicle depth:1537.42668 # Seafloor depth:-1586.688373 # 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 100.474941 meters # Minimum depth: 1608.024379 meters looking forward 100.000000 meters along route # Maximum depth: 1626.649399 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.024379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696194; longitude = -122.750400; captureRadius = 10; duration = 100; initialDepth = 1563.024379; finalDepth = 1537.426680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2616929999999 # Actual altitude: 50 # Commanded vehicle depth:1563.024379 # Seafloor depth:-1608.024379 # 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 100.474514 meters # Minimum depth: 1626.985055 meters looking forward 100.000000 meters along route # Maximum depth: 1654.789379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.985055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696743; longitude = -122.749516; captureRadius = 10; duration = 100; initialDepth = 1581.985055; finalDepth = 1563.024379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1581.985055 # Seafloor depth:-1626.985055 # 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 100.474085 meters # Minimum depth: 1660.593845 meters looking forward 100.000000 meters along route # Maximum depth: 1667.489364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.593845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697292; longitude = -122.748633; captureRadius = 10; duration = 100; initialDepth = 1615.593845; finalDepth = 1581.985055; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1615.593845 # Seafloor depth:-1660.593845 # 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 100.473657 meters # Minimum depth: 1660.400972 meters looking forward 100.000000 meters along route # Maximum depth: 1668.069929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.400972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697842; longitude = -122.747750; captureRadius = 10; duration = 100; initialDepth = 1615.400972; finalDepth = 1615.593845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6689570000001 # Actual altitude: 52.6689570000001 # Commanded vehicle depth:1615.400972 # Seafloor depth:-1668.069929 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 126.41; MB_Bottom_Detect_Filter_Min_Depth = 26.33; MB_Bottom_Detect_Filter_Max_Depth = 126.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.864600 meters # Minimum depth: 1629.261265 meters looking forward 100.000000 meters along route # Maximum depth: 1648.460134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.261265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698391; longitude = -122.746867; captureRadius = 10; duration = 100; initialDepth = 1584.261265; finalDepth = 1615.400972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1988689999998 # Actual altitude: 64.1988689999998 # Commanded vehicle depth:1584.261265 # Seafloor depth:-1648.460134 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.10; MB_Bottom_Detect_Filter_Max_Range = 154.08; MB_Bottom_Detect_Filter_Min_Depth = 32.10; MB_Bottom_Detect_Filter_Max_Depth = 154.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.081432 meters # Minimum depth: 1581.367088 meters looking forward 100.000000 meters along route # Maximum depth: 1629.123785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.367088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698942; longitude = -122.745981; captureRadius = 10; duration = 100; initialDepth = 1536.367088; finalDepth = 1584.261265; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.756697 # Actual altitude: 92.756697 # Commanded vehicle depth:1536.367088 # Seafloor depth:-1629.123785 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.38; MB_Bottom_Detect_Filter_Max_Range = 222.62; MB_Bottom_Detect_Filter_Min_Depth = 46.38; MB_Bottom_Detect_Filter_Max_Depth = 222.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.472374 meters # Minimum depth: 1535.213364 meters looking forward 100.000000 meters along route # Maximum depth: 1575.669238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.213364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699489; longitude = -122.745101; captureRadius = 10; duration = 100; initialDepth = 1490.213364; finalDepth = 1536.367088; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.756697 # Actual altitude: 92.756697 # Commanded vehicle depth:1490.213364 # Seafloor depth:-1575.669238 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.38; MB_Bottom_Detect_Filter_Max_Range = 222.62; MB_Bottom_Detect_Filter_Min_Depth = 46.38; MB_Bottom_Detect_Filter_Max_Depth = 222.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 114.537537 meters # Minimum depth: 1478.610100 meters looking forward 100.000000 meters along route # Maximum depth: 1523.522509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1433.610100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700039; longitude = -122.744218; captureRadius = 10; duration = 114; initialDepth = 1433.610100; finalDepth = 1490.213364; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.9124089999998 # Actual altitude: 89.9124089999998 # Commanded vehicle depth:1433.6101 # Seafloor depth:-1523.522509 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.96; MB_Bottom_Detect_Filter_Max_Range = 215.79; MB_Bottom_Detect_Filter_Min_Depth = 44.96; MB_Bottom_Detect_Filter_Max_Depth = 215.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 52.287613 meters # Minimum depth: 1474.198931 meters looking forward 100.000000 meters along route # Maximum depth: 1487.679260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.198931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700665; longitude = -122.743211; captureRadius = 10; duration = 52; initialDepth = 1429.198931; finalDepth = 1433.610100; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.9124089999998 # Actual altitude: 89.9124089999998 # Commanded vehicle depth:1429.198931 # Seafloor depth:-1487.679260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.96; MB_Bottom_Detect_Filter_Max_Range = 215.79; MB_Bottom_Detect_Filter_Min_Depth = 44.96; MB_Bottom_Detect_Filter_Max_Depth = 215.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 122.549697 meters # Minimum depth: 1474.704919 meters looking forward 100.000000 meters along route # Maximum depth: 1495.948422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.704919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700764; longitude = -122.743776; captureRadius = 10; duration = 122; initialDepth = 1429.704919; finalDepth = 1429.198931; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4803290000002 # Actual altitude: 58.4803290000002 # Commanded vehicle depth:1429.704919 # Seafloor depth:-1474.704919 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.24; MB_Bottom_Detect_Filter_Max_Range = 140.35; MB_Bottom_Detect_Filter_Min_Depth = 29.24; MB_Bottom_Detect_Filter_Max_Depth = 140.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 135.914768 meters # Minimum depth: 1502.614886 meters looking forward 100.000000 meters along route # Maximum depth: 1563.104512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.614886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700995; longitude = -122.745101; captureRadius = 10; duration = 135; initialDepth = 1457.614886; finalDepth = 1429.704919; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1457.614886 # Seafloor depth:-1502.614886 # 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 14 # Segment length 42.656677 meters # Minimum depth: 1536.212159 meters looking forward 100.000000 meters along route # Maximum depth: 1574.915619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.212159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701251; longitude = -122.746570; captureRadius = 10; duration = 42; initialDepth = 1491.212159; finalDepth = 1457.614886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7034600000002 # Actual altitude: 83.7034600000002 # Commanded vehicle depth:1491.212159 # Seafloor depth:-1574.915619 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.85; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 41.85; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.579029 meters # Minimum depth: 1541.130706 meters looking forward 100.000000 meters along route # Maximum depth: 1557.022081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.130706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701592; longitude = -122.746351; captureRadius = 10; duration = 110; initialDepth = 1496.130706; finalDepth = 1491.212159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.7034600000002 # Actual altitude: 83.7034600000002 # Commanded vehicle depth:1496.130706 # Seafloor depth:-1557.022081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.85; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 41.85; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.578782 meters # Minimum depth: 1539.165958 meters looking forward 100.000000 meters along route # Maximum depth: 1540.091778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1494.165958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702475; longitude = -122.745784; captureRadius = 10; duration = 110; initialDepth = 1494.165958; finalDepth = 1496.130706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8913750000002 # Actual altitude: 60.8913750000002 # Commanded vehicle depth:1494.165958 # Seafloor depth:-1539.165958 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 146.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.45; MB_Bottom_Detect_Filter_Max_Range = 146.14; MB_Bottom_Detect_Filter_Min_Depth = 30.45; MB_Bottom_Detect_Filter_Max_Depth = 146.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 110.578535 meters # Minimum depth: 1540.522094 meters looking forward 100.000000 meters along route # Maximum depth: 1547.266860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.522094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703358; longitude = -122.745216; captureRadius = 10; duration = 110; initialDepth = 1495.522094; finalDepth = 1494.165958; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1495.522094 # Seafloor depth:-1540.522094 # 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 14 # Segment length 116.573400 meters # Minimum depth: 1547.892267 meters looking forward 100.000000 meters along route # Maximum depth: 1597.850048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.892267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704241; longitude = -122.744649; captureRadius = 10; duration = 116; initialDepth = 1502.892267; finalDepth = 1495.522094; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1502.892267 # Seafloor depth:-1547.892267 # 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 13 # Segment length 92.772983 meters # Minimum depth: 1597.850048 meters looking forward 100.000000 meters along route # Maximum depth: 1618.422934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.850048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705172; longitude = -122.744051; captureRadius = 10; duration = 92; initialDepth = 1552.850048; finalDepth = 1502.892267; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3429759999999 # Actual altitude: 54.3429759999999 # Commanded vehicle depth:1552.850048 # Seafloor depth:-1607.193024 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.17; MB_Bottom_Detect_Filter_Max_Range = 130.42; MB_Bottom_Detect_Filter_Min_Depth = 27.17; MB_Bottom_Detect_Filter_Max_Depth = 130.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 147.136664 meters # Minimum depth: 1628.577634 meters looking forward 100.000000 meters along route # Maximum depth: 1651.738174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.577634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.743995; captureRadius = 10; duration = 147; initialDepth = 1583.577634; finalDepth = 1552.850048; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6068760000001 # Actual altitude: 66.6068760000001 # Commanded vehicle depth:1583.577634 # Seafloor depth:-1650.184510 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.30; MB_Bottom_Detect_Filter_Max_Range = 159.86; MB_Bottom_Detect_Filter_Min_Depth = 33.30; MB_Bottom_Detect_Filter_Max_Depth = 159.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.529727 meters # Minimum depth: 1581.712314 meters looking forward 100.000000 meters along route # Maximum depth: 1615.989758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.712314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707332; longitude = -122.743907; captureRadius = 10; duration = 109; initialDepth = 1536.712314; finalDepth = 1583.577634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2774439999998 # Actual altitude: 79.2774439999998 # Commanded vehicle depth:1536.712314 # Seafloor depth:-1615.989758 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 190.27; MB_Bottom_Detect_Filter_Min_Depth = 39.64; MB_Bottom_Detect_Filter_Max_Depth = 190.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 93.456857 meters # Minimum depth: 1600.081871 meters looking forward 100.000000 meters along route # Maximum depth: 1610.237011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.081871 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708318; longitude = -122.743841; captureRadius = 10; duration = 93; initialDepth = 1555.081871; finalDepth = 1536.712314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.2774439999998 # Actual altitude: 79.2774439999998 # Commanded vehicle depth:1555.081871 # Seafloor depth:-1602.526672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 190.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.64; MB_Bottom_Detect_Filter_Max_Range = 190.27; MB_Bottom_Detect_Filter_Min_Depth = 39.64; MB_Bottom_Detect_Filter_Max_Depth = 190.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 100.859256 meters # Minimum depth: 1627.327809 meters looking forward 100.000000 meters along route # Maximum depth: 1658.825700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.327809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707804; longitude = -122.744659; captureRadius = 10; duration = 100; initialDepth = 1582.327809; finalDepth = 1555.081871; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.4448009999999 # Actual altitude: 50 # Commanded vehicle depth:1582.327809 # Seafloor depth:-1627.327809 # 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 12 # Segment length 100.859686 meters # Minimum depth: 1664.324739 meters looking forward 100.000000 meters along route # Maximum depth: 1692.245315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.324739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707248; longitude = -122.745542; captureRadius = 10; duration = 100; initialDepth = 1619.324739; finalDepth = 1582.327809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1619.324739 # Seafloor depth:-1664.324739 # 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 12 # Segment length 100.860117 meters # Minimum depth: 1691.348103 meters looking forward 100.000000 meters along route # Maximum depth: 1699.942541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.348103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706693; longitude = -122.746426; captureRadius = 10; duration = 100; initialDepth = 1646.348103; finalDepth = 1619.324739; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1646.348103 # Seafloor depth:-1691.348103 # 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 12 # Segment length 115.050481 meters # Minimum depth: 1727.314293 meters looking forward 100.000000 meters along route # Maximum depth: 1752.323161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.314293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706138; longitude = -122.747309; captureRadius = 10; duration = 115; initialDepth = 1682.314293; finalDepth = 1646.348103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1682.314293 # Seafloor depth:-1727.314293 # 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 11 # Segment length 62.598070 meters # Minimum depth: 1751.061608 meters looking forward 100.000000 meters along route # Maximum depth: 1756.430054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.061608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705505; longitude = -122.748316; captureRadius = 10; duration = 62; initialDepth = 1706.061608; finalDepth = 1682.314293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3684459999999 # Actual altitude: 50.3684459999999 # Commanded vehicle depth:1706.061608 # Seafloor depth:-1756.430054 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 120.88; MB_Bottom_Detect_Filter_Min_Depth = 25.18; MB_Bottom_Detect_Filter_Max_Depth = 120.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.070293 meters # Minimum depth: 1740.643944 meters looking forward 100.000000 meters along route # Maximum depth: 1746.098052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.643944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.748000; captureRadius = 10; duration = 110; initialDepth = 1695.643944; finalDepth = 1706.061608; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4541080000001 # Actual altitude: 50.4541080000001 # Commanded vehicle depth:1695.643944 # Seafloor depth:-1746.098052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 121.09; MB_Bottom_Detect_Filter_Min_Depth = 25.23; MB_Bottom_Detect_Filter_Max_Depth = 121.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 114.606532 meters # Minimum depth: 1740.912456 meters looking forward 100.000000 meters along route # Maximum depth: 1748.007351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.912456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706890; longitude = -122.747445; captureRadius = 10; duration = 114; initialDepth = 1695.912456; finalDepth = 1695.643944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4541080000001 # Actual altitude: 50.4541080000001 # Commanded vehicle depth:1695.912456 # Seafloor depth:-1744.503025 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 121.09; MB_Bottom_Detect_Filter_Min_Depth = 25.23; MB_Bottom_Detect_Filter_Max_Depth = 121.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 107.081959 meters # Minimum depth: 1732.476369 meters looking forward 100.000000 meters along route # Maximum depth: 1740.867659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1687.476369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707810; longitude = -122.746867; captureRadius = 10; duration = 107; initialDepth = 1687.476369; finalDepth = 1695.912456; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.39129 # Actual altitude: 53.39129 # Commanded vehicle depth:1687.476369 # Seafloor depth:-1740.867659 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 128.14; MB_Bottom_Detect_Filter_Min_Depth = 26.70; MB_Bottom_Detect_Filter_Max_Depth = 128.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 53.781204 meters # Minimum depth: 1726.294250 meters looking forward 100.000000 meters along route # Maximum depth: 1733.239341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.294250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708669; longitude = -122.746327; captureRadius = 10; duration = 53; initialDepth = 1681.294250; finalDepth = 1687.476369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.39129 # Actual altitude: 53.39129 # Commanded vehicle depth:1681.29425 # Seafloor depth:-1726.294250 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 128.14; MB_Bottom_Detect_Filter_Min_Depth = 26.70; MB_Bottom_Detect_Filter_Max_Depth = 128.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 110.676534 meters # Minimum depth: 1699.803211 meters looking forward 100.000000 meters along route # Maximum depth: 1719.455940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.803211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709098; longitude = -122.746050; captureRadius = 10; duration = 110; initialDepth = 1654.803211; finalDepth = 1681.294250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.6527290000001 # Actual altitude: 64.6527290000001 # Commanded vehicle depth:1654.803211 # Seafloor depth:-1719.455940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 155.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 155.17; MB_Bottom_Detect_Filter_Min_Depth = 32.33; MB_Bottom_Detect_Filter_Max_Depth = 155.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 136.072268 meters # Minimum depth: 1688.109406 meters looking forward 100.000000 meters along route # Maximum depth: 1699.735136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.109406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.745480; captureRadius = 10; duration = 136; initialDepth = 1643.109406; finalDepth = 1654.803211; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.6527290000001 # Actual altitude: 64.6527290000001 # Commanded vehicle depth:1643.109406 # Seafloor depth:-1699.735136 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 155.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.33; MB_Bottom_Detect_Filter_Max_Range = 155.17; MB_Bottom_Detect_Filter_Min_Depth = 32.33; MB_Bottom_Detect_Filter_Max_Depth = 155.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 104.396110 meters # Minimum depth: 1668.799204 meters looking forward 100.000000 meters along route # Maximum depth: 1688.323364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.799204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711067; longitude = -122.744780; captureRadius = 10; duration = 104; initialDepth = 1623.799204; finalDepth = 1643.109406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.5241600000002 # Actual altitude: 64.5241600000002 # Commanded vehicle depth:1623.799204 # Seafloor depth:-1688.323364 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 154.86; MB_Bottom_Detect_Filter_Min_Depth = 32.26; MB_Bottom_Detect_Filter_Max_Depth = 154.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.028002 meters # Minimum depth: 1667.690818 meters looking forward 100.000000 meters along route # Maximum depth: 1671.069489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.690818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711889; longitude = -122.744218; captureRadius = 10; duration = 113; initialDepth = 1622.690818; finalDepth = 1623.799204; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.5241600000002 # Actual altitude: 64.5241600000002 # Commanded vehicle depth:1622.690818 # Seafloor depth:-1667.690818 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 154.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.26; MB_Bottom_Detect_Filter_Max_Range = 154.86; MB_Bottom_Detect_Filter_Min_Depth = 32.26; MB_Bottom_Detect_Filter_Max_Depth = 154.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 104.933054 meters # Minimum depth: 1646.570984 meters looking forward 100.000000 meters along route # Maximum depth: 1677.209015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.570984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712779; longitude = -122.743609; captureRadius = 10; duration = 104; initialDepth = 1601.570984; finalDepth = 1622.690818; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.638031 # Actual altitude: 75.638031 # Commanded vehicle depth:1601.570984 # Seafloor depth:-1677.209015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 181.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.82; MB_Bottom_Detect_Filter_Max_Range = 181.53; MB_Bottom_Detect_Filter_Min_Depth = 37.82; MB_Bottom_Detect_Filter_Max_Depth = 181.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 120.089678 meters # Minimum depth: 1582.103528 meters looking forward 100.000000 meters along route # Maximum depth: 1626.528850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.103528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712842; longitude = -122.742452; captureRadius = 10; duration = 120; initialDepth = 1537.103528; finalDepth = 1601.570984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4253219999998 # Actual altitude: 89.4253219999998 # Commanded vehicle depth:1537.103528 # Seafloor depth:-1626.528850 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.71; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 44.71; MB_Bottom_Detect_Filter_Max_Depth = 214.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 120.089579 meters # Minimum depth: 1537.144142 meters looking forward 100.000000 meters along route # Maximum depth: 1564.204052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.144142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712915; longitude = -122.741127; captureRadius = 10; duration = 120; initialDepth = 1492.144142; finalDepth = 1537.103528; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4253219999998 # Actual altitude: 89.4253219999998 # Commanded vehicle depth:1492.144142 # Seafloor depth:-1564.204052 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.71; MB_Bottom_Detect_Filter_Max_Range = 214.62; MB_Bottom_Detect_Filter_Min_Depth = 44.71; MB_Bottom_Detect_Filter_Max_Depth = 214.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 134.731131 meters # Minimum depth: 1545.767107 meters looking forward 100.000000 meters along route # Maximum depth: 1605.261952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.767107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712987; longitude = -122.739802; captureRadius = 10; duration = 134; initialDepth = 1500.767107; finalDepth = 1492.144142; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.0599099999999 # Actual altitude: 72.0599099999999 # Commanded vehicle depth:1500.767107 # Seafloor depth:-1545.767107 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 172.94; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.03; MB_Bottom_Detect_Filter_Max_Range = 172.94; MB_Bottom_Detect_Filter_Min_Depth = 36.03; MB_Bottom_Detect_Filter_Max_Depth = 172.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 0.476609 meters # Minimum depth: 1565.277865 meters looking forward 100.000000 meters along route # Maximum depth: 1617.630493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.277865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713068; longitude = -122.738316; captureRadius = 10; duration = 0; initialDepth = 1520.277865; finalDepth = 1500.767107; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.3526279999999 # Actual altitude: 97.3526279999999 # Commanded vehicle depth:1520.277865 # Seafloor depth:-1617.630493 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.68; MB_Bottom_Detect_Filter_Max_Range = 233.65; MB_Bottom_Detect_Filter_Min_Depth = 48.68; MB_Bottom_Detect_Filter_Max_Depth = 233.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.601221 meters # Minimum depth: 1597.644760 meters looking forward 100.000000 meters along route # Maximum depth: 1613.464255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.644760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.738315; captureRadius = 10; duration = 101; initialDepth = 1552.644760; finalDepth = 1520.277865; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.3526279999999 # Actual altitude: 97.3526279999999 # Commanded vehicle depth:1552.64476 # Seafloor depth:-1613.464255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 48.68; MB_Bottom_Detect_Filter_Max_Range = 233.65; MB_Bottom_Detect_Filter_Min_Depth = 48.68; MB_Bottom_Detect_Filter_Max_Depth = 233.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.601158 meters # Minimum depth: 1596.779916 meters looking forward 100.000000 meters along route # Maximum depth: 1610.163308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.779916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.738016; captureRadius = 10; duration = 101; initialDepth = 1551.779916; finalDepth = 1552.644760; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8194950000002 # Actual altitude: 60.8194950000002 # Commanded vehicle depth:1551.779916 # Seafloor depth:-1596.779916 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 145.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.41; MB_Bottom_Detect_Filter_Max_Range = 145.97; MB_Bottom_Detect_Filter_Min_Depth = 30.41; MB_Bottom_Detect_Filter_Max_Depth = 145.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 127.086313 meters # Minimum depth: 1634.988012 meters looking forward 100.000000 meters along route # Maximum depth: 1675.166292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.988012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.737717; captureRadius = 10; duration = 127; initialDepth = 1589.988012; finalDepth = 1551.779916; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1589.988012 # Seafloor depth:-1634.988012 # 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 6 # Segment length 107.606068 meters # Minimum depth: 1671.695044 meters looking forward 100.000000 meters along route # Maximum depth: 1685.691950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.695044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715943; longitude = -122.737344; captureRadius = 10; duration = 107; initialDepth = 1626.695044; finalDepth = 1589.988012; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3225949999999 # Actual altitude: 54.3225949999999 # Commanded vehicle depth:1626.695044 # Seafloor depth:-1681.017639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 130.37; MB_Bottom_Detect_Filter_Min_Depth = 27.16; MB_Bottom_Detect_Filter_Max_Depth = 130.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.753943 meters # Minimum depth: 1661.045550 meters looking forward 100.000000 meters along route # Maximum depth: 1677.874267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.045550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716360; longitude = -122.736270; captureRadius = 10; duration = 109; initialDepth = 1616.045550; finalDepth = 1626.695044; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3225949999999 # Actual altitude: 54.3225949999999 # Commanded vehicle depth:1616.04555 # Seafloor depth:-1661.045550 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 130.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 130.37; MB_Bottom_Detect_Filter_Min_Depth = 27.16; MB_Bottom_Detect_Filter_Max_Depth = 130.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 78.869296 meters # Minimum depth: 1675.402593 meters looking forward 100.000000 meters along route # Maximum depth: 1685.567719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.402593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716785; longitude = -122.735174; captureRadius = 10; duration = 78; initialDepth = 1630.402593; finalDepth = 1616.045550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.1651259999999 # Actual altitude: 55.1651259999999 # Commanded vehicle depth:1630.402593 # Seafloor depth:-1685.567719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 132.40; MB_Bottom_Detect_Filter_Min_Depth = 27.58; MB_Bottom_Detect_Filter_Max_Depth = 132.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.870942 meters # Minimum depth: 1635.241859 meters looking forward 100.000000 meters along route # Maximum depth: 1672.607377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.241859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.735308; captureRadius = 10; duration = 105; initialDepth = 1590.241859; finalDepth = 1630.402593; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3655180000001 # Actual altitude: 82.3655180000001 # Commanded vehicle depth:1590.241859 # Seafloor depth:-1672.607377 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.18; MB_Bottom_Detect_Filter_Max_Range = 197.68; MB_Bottom_Detect_Filter_Min_Depth = 41.18; MB_Bottom_Detect_Filter_Max_Depth = 197.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 103.979466 meters # Minimum depth: 1597.939694 meters looking forward 100.000000 meters along route # Maximum depth: 1630.666595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.939694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718431; longitude = -122.735487; captureRadius = 10; duration = 103; initialDepth = 1552.939694; finalDepth = 1590.241859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.3655180000001 # Actual altitude: 82.3655180000001 # Commanded vehicle depth:1552.939694 # Seafloor depth:-1630.666595 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.18; MB_Bottom_Detect_Filter_Max_Range = 197.68; MB_Bottom_Detect_Filter_Min_Depth = 41.18; MB_Bottom_Detect_Filter_Max_Depth = 197.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 144.301116 meters # Minimum depth: 1588.519756 meters looking forward 100.000000 meters along route # Maximum depth: 1597.576910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.519756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.734936; captureRadius = 10; duration = 144; initialDepth = 1543.519756; finalDepth = 1552.939694; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.726901 # Actual altitude: 77.726901 # Commanded vehicle depth:1543.519756 # Seafloor depth:-1597.576910 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.86; MB_Bottom_Detect_Filter_Max_Range = 186.54; MB_Bottom_Detect_Filter_Min_Depth = 38.86; MB_Bottom_Detect_Filter_Max_Depth = 186.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 90.903508 meters # Minimum depth: 1583.319830 meters looking forward 100.000000 meters along route # Maximum depth: 1587.248383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.319830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720396; longitude = -122.734172; captureRadius = 10; duration = 90; initialDepth = 1538.319830; finalDepth = 1543.519756; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0571540000001 # Actual altitude: 54.0571540000001 # Commanded vehicle depth:1538.31983 # Seafloor depth:-1587.248383 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 129.74; MB_Bottom_Detect_Filter_Min_Depth = 27.03; MB_Bottom_Detect_Filter_Max_Depth = 129.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.245089 meters # Minimum depth: 1606.731969 meters looking forward 100.000000 meters along route # Maximum depth: 1658.286808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.731969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720270; longitude = -122.733179; captureRadius = 10; duration = 121; initialDepth = 1561.731969; finalDepth = 1538.319830; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9285530000002 # Actual altitude: 50 # Commanded vehicle depth:1561.731969 # Seafloor depth:-1606.731969 # 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 121.245345 meters # Minimum depth: 1672.487803 meters looking forward 100.000000 meters along route # Maximum depth: 1680.070580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.487803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720103; longitude = -122.731854; captureRadius = 10; duration = 121; initialDepth = 1627.487803; finalDepth = 1561.731969; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1627.487803 # Seafloor depth:-1672.487803 # 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 121.245601 meters # Minimum depth: 1597.031225 meters looking forward 100.000000 meters along route # Maximum depth: 1659.737406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.031225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719935; longitude = -122.730529; captureRadius = 10; duration = 121; initialDepth = 1552.031225; finalDepth = 1627.487803; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.706181 # Actual altitude: 100 # Commanded vehicle depth:1552.031225 # Seafloor depth:-1659.737406 # 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 3 # Segment length 121.245859 meters # Minimum depth: 1521.578104 meters looking forward 100.000000 meters along route # Maximum depth: 1582.710443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.578104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719767; longitude = -122.729205; captureRadius = 10; duration = 121; initialDepth = 1476.578104; finalDepth = 1552.031225; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.706181 # Actual altitude: 100 # Commanded vehicle depth:1476.578104 # Seafloor depth:-1582.710443 # 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 3 # Segment length 101.702332 meters # Minimum depth: 1474.521434 meters looking forward 100.000000 meters along route # Maximum depth: 1509.749669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.521434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719600; longitude = -122.727880; captureRadius = 10; duration = 101; initialDepth = 1429.521434; finalDepth = 1476.578104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.132339 # Actual altitude: 100 # Commanded vehicle depth:1429.521434 # Seafloor depth:-1509.749669 # 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 2 # Segment length 24.774080 meters # Minimum depth: 1464.157990 meters looking forward 100.000000 meters along route # Maximum depth: 1490.840849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.157990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719459; longitude = -122.726769; captureRadius = 10; duration = 24; initialDepth = 1419.157990; finalDepth = 1429.521434; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.228235 # Actual altitude: 80.228235 # Commanded vehicle depth:1419.15799 # Seafloor depth:-1464.157990 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 192.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.11; MB_Bottom_Detect_Filter_Max_Range = 192.55; MB_Bottom_Detect_Filter_Min_Depth = 40.11; MB_Bottom_Detect_Filter_Max_Depth = 192.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.462446 meters # Minimum depth: 1404.646771 meters looking forward 100.000000 meters along route # Maximum depth: 1449.769365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.646771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719599; longitude = -122.726555; captureRadius = 10; duration = 102; initialDepth = 1359.646771; finalDepth = 1419.157990; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.1225940000002 # Actual altitude: 90.1225940000002 # Commanded vehicle depth:1359.646771 # Seafloor depth:-1449.769365 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.06; MB_Bottom_Detect_Filter_Max_Range = 216.29; MB_Bottom_Detect_Filter_Min_Depth = 45.06; MB_Bottom_Detect_Filter_Max_Depth = 216.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.462004 meters # Minimum depth: 1365.703575 meters looking forward 100.000000 meters along route # Maximum depth: 1401.197764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1320.703575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720178; longitude = -122.725672; captureRadius = 10; duration = 102; initialDepth = 1320.703575; finalDepth = 1359.646771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.1225940000002 # Actual altitude: 90.1225940000002 # Commanded vehicle depth:1320.703575 # Seafloor depth:-1401.197764 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.06; MB_Bottom_Detect_Filter_Max_Range = 216.29; MB_Bottom_Detect_Filter_Min_Depth = 45.06; MB_Bottom_Detect_Filter_Max_Depth = 216.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 142.156975 meters # Minimum depth: 1317.530193 meters looking forward 100.000000 meters along route # Maximum depth: 1357.732544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1272.530193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720756; longitude = -122.724789; captureRadius = 10; duration = 142; initialDepth = 1272.530193; finalDepth = 1320.703575; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2023509999999 # Actual altitude: 85.2023509999999 # Commanded vehicle depth:1272.530193 # Seafloor depth:-1357.732544 # behavior reson { duration = RESON_DURATION; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.60; MB_Bottom_Detect_Filter_Max_Range = 204.49; MB_Bottom_Detect_Filter_Min_Depth = 42.60; MB_Bottom_Detect_Filter_Max_Depth = 204.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 92.077578 meters # Minimum depth: 1311.520959 meters looking forward 100.000000 meters along route # Maximum depth: 1314.576202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1266.520959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721559; longitude = -122.723564; captureRadius = 10; duration = 92; initialDepth = 1266.520959; finalDepth = 1272.530193; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.2023509999999 # Actual altitude: 85.2023509999999 # Commanded vehicle depth:1266.520959 # Seafloor depth:-1314.576202 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.60; MB_Bottom_Detect_Filter_Max_Range = 204.49; MB_Bottom_Detect_Filter_Min_Depth = 42.60; MB_Bottom_Detect_Filter_Max_Depth = 204.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 133.946515 meters # Minimum depth: 1295.972421 meters looking forward 100.000000 meters along route # Maximum depth: 1304.632923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1250.972421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.723236; captureRadius = 10; duration = 133; initialDepth = 1250.972421; finalDepth = 1266.520959; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.055243 # Actual altitude: 50 # Commanded vehicle depth:1250.972421 # Seafloor depth:-1297.864661 # 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; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 61.143088 # Actual altitude: 61.143088 # Commanded vehicle depth:1250.972421 # Seafloor depth:-1312.115509 # 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 = 146.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 146.74; MB_Bottom_Detect_Filter_Min_Depth = 30.57; MB_Bottom_Detect_Filter_Max_Depth = 146.74; 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: 1295.972421 meters looking forward 100.000000 meters along route # Maximum depth: 1312.115509 meters looking forward 100.000000 meters along route # Vehicle depth: 1250.972421 meters behavior waypoint { latitude = 35.723488; longitude = -122.722758; captureRadius = 10; duration = 500; depth = 1250.972421; speed = MISSION_SPEED; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1250.972421 meters set by local depth and desired altitude behavior descend { duration = 6761; 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: 1295.972421 meters looking forward 100.000000 meters along route # Maximum depth: 1312.115509 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.723488; longitude = -122.722758; captureRadius = 10; duration = 500; depth = 50.000000; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 198.653691; 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 = 198.653691; 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; } # ####################################################### #######################################################