# 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: SoquelCanyonRock_1v1.rte # Mission File: SoquelCanyonRock_1v1.cfg # Distance: 4863.828078 (m) # Estimated Time: 4979 (s) 1.383 (hr) # Abort Time: 6473 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 4 # Route Points: 98 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 20 (m) # Minimum Vehicle Altitude: 25 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 273.825887 (m) # Abort Vehicle Depth: 286.325887 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.958682 36.861512 -111.216695 0.000000 1 # 1 -121.963913 36.840768 -250.353109 2348.101069 1 # 2 -121.965352 36.840919 -286.325887 2477.448797 1 # 3 -121.960270 36.862038 -116.090719 4863.828078 1 # # A total of 98 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 4863.828078 #define MISSION_TIME 4979 #define MISSION_TIMEOUT 6473 #define DEPTH_MAX 273.825887 #define DEPTH_ABORT 286.325887 #define ALTITUDE_DESIRED 20.000000 #define ALTITUDE_MIN 25.000000 #define ALTITUDE_ABORT 10.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define 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 = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 54.409126 meters # Minimum depth: 116.090719 meters looking forward 0.000000 meters along route # Maximum depth: 116.090719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 96.090719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.862038; longitude = -121.960270; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 99.960361; finalDepth = 96.090719; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:96.090719 # Seafloor depth:-116.090719 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 119.960361 meters looking forward 0.000000 meters along route # Maximum depth: 119.960361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 99.960361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861662; longitude = -121.960361; captureRadius = 10; duration = 54; initialDepth = 104.446143; finalDepth = 99.960361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:99.960361 # Seafloor depth:-119.960361 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 124.446143 meters looking forward 0.000000 meters along route # Maximum depth: 124.446143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 104.446143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861211; longitude = -121.960469; captureRadius = 10; duration = 54; initialDepth = 108.287663; finalDepth = 104.446143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:104.446143 # Seafloor depth:-124.446143 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 128.287663 meters looking forward 0.000000 meters along route # Maximum depth: 128.287663 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 108.287663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860761; longitude = -121.960578; captureRadius = 10; duration = 54; initialDepth = 111.757886; finalDepth = 108.287663; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:108.287663 # Seafloor depth:-128.287663 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 131.757886 meters looking forward 0.000000 meters along route # Maximum depth: 131.757886 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 111.757886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860310; longitude = -121.960686; captureRadius = 10; duration = 54; initialDepth = 115.721080; finalDepth = 111.757886; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:111.757886 # Seafloor depth:-131.757886 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 135.721080 meters looking forward 0.000000 meters along route # Maximum depth: 135.721080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 115.721080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859860; longitude = -121.960794; captureRadius = 10; duration = 54; initialDepth = 120.829508; finalDepth = 115.721080; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:115.72108 # Seafloor depth:-135.721080 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 140.829508 meters looking forward 0.000000 meters along route # Maximum depth: 140.829508 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 120.829508 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859409; longitude = -121.960903; captureRadius = 10; duration = 54; initialDepth = 123.750260; finalDepth = 120.829508; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:120.829508 # Seafloor depth:-140.829508 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 143.750260 meters looking forward 0.000000 meters along route # Maximum depth: 143.750260 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 123.750260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858958; longitude = -121.961011; captureRadius = 10; duration = 54; initialDepth = 128.308339; finalDepth = 123.750260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:123.75026 # Seafloor depth:-143.750260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 148.308339 meters looking forward 0.000000 meters along route # Maximum depth: 148.308339 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 128.308339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858508; longitude = -121.961120; captureRadius = 10; duration = 54; initialDepth = 130.836782; finalDepth = 128.308339; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:128.308339 # Seafloor depth:-148.308339 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 150.836782 meters looking forward 0.000000 meters along route # Maximum depth: 150.836782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 130.836782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858057; longitude = -121.961228; captureRadius = 10; duration = 54; initialDepth = 134.023156; finalDepth = 130.836782; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:130.836782 # Seafloor depth:-150.836782 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 154.023156 meters looking forward 0.000000 meters along route # Maximum depth: 154.023156 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 134.023156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857607; longitude = -121.961337; captureRadius = 10; duration = 54; initialDepth = 138.682836; finalDepth = 134.023156; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:134.023156 # Seafloor depth:-154.023156 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 158.682836 meters looking forward 0.000000 meters along route # Maximum depth: 158.682836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 138.682836 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857156; longitude = -121.961445; captureRadius = 10; duration = 54; initialDepth = 144.040926; finalDepth = 138.682836; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:138.682836 # Seafloor depth:-158.682836 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 164.040926 meters looking forward 0.000000 meters along route # Maximum depth: 164.040926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 144.040926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856705; longitude = -121.961553; captureRadius = 10; duration = 54; initialDepth = 147.891200; finalDepth = 144.040926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:144.040926 # Seafloor depth:-164.040926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 167.891200 meters looking forward 0.000000 meters along route # Maximum depth: 167.891200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 147.891200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856255; longitude = -121.961662; captureRadius = 10; duration = 54; initialDepth = 150.926772; finalDepth = 147.891200; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:147.8912 # Seafloor depth:-167.891200 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 170.926772 meters looking forward 0.000000 meters along route # Maximum depth: 170.926772 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 150.926772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855804; longitude = -121.961770; captureRadius = 10; duration = 54; initialDepth = 152.265021; finalDepth = 150.926772; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:150.926772 # Seafloor depth:-170.926772 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 172.265021 meters looking forward 0.000000 meters along route # Maximum depth: 172.265021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 152.265021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855353; longitude = -121.961879; captureRadius = 10; duration = 54; initialDepth = 153.799135; finalDepth = 152.265021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:152.265021 # Seafloor depth:-172.265021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 173.799135 meters looking forward 0.000000 meters along route # Maximum depth: 173.799135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 153.799135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854903; longitude = -121.961987; captureRadius = 10; duration = 54; initialDepth = 159.815673; finalDepth = 153.799135; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:153.799135 # Seafloor depth:-173.799135 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 179.815673 meters looking forward 0.000000 meters along route # Maximum depth: 179.815673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 159.815673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854452; longitude = -121.962095; captureRadius = 10; duration = 54; initialDepth = 164.135655; finalDepth = 159.815673; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:159.815673 # Seafloor depth:-179.815673 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 184.135655 meters looking forward 0.000000 meters along route # Maximum depth: 184.135655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 164.135655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854002; longitude = -121.962204; captureRadius = 10; duration = 54; initialDepth = 167.371428; finalDepth = 164.135655; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:164.135655 # Seafloor depth:-184.135655 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 187.371428 meters looking forward 0.000000 meters along route # Maximum depth: 187.371428 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 167.371428 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853551; longitude = -121.962312; captureRadius = 10; duration = 54; initialDepth = 172.810751; finalDepth = 167.371428; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:167.371428 # Seafloor depth:-187.371428 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 192.810751 meters looking forward 0.000000 meters along route # Maximum depth: 192.810751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 172.810751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853100; longitude = -121.962421; captureRadius = 10; duration = 54; initialDepth = 180.115184; finalDepth = 172.810751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:172.810751 # Seafloor depth:-192.810751 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 200.115184 meters looking forward 0.000000 meters along route # Maximum depth: 200.115184 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 180.115184 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852643; longitude = -121.962531; captureRadius = 10; duration = 54; initialDepth = 189.262444; finalDepth = 180.115184; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:180.115184 # Seafloor depth:-200.115184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 209.262444 meters looking forward 0.000000 meters along route # Maximum depth: 209.262444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 189.262444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852199; longitude = -121.962638; captureRadius = 10; duration = 54; initialDepth = 195.007295; finalDepth = 189.262444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:189.262444 # Seafloor depth:-209.262444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 215.007295 meters looking forward 0.000000 meters along route # Maximum depth: 215.007295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 195.007295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851749; longitude = -121.962746; captureRadius = 10; duration = 54; initialDepth = 197.820409; finalDepth = 195.007295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:195.007295 # Seafloor depth:-215.007295 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 217.820409 meters looking forward 0.000000 meters along route # Maximum depth: 217.820409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 197.820409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851298; longitude = -121.962854; captureRadius = 10; duration = 54; initialDepth = 200.290926; finalDepth = 197.820409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:197.820409 # Seafloor depth:-217.820409 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 220.290926 meters looking forward 0.000000 meters along route # Maximum depth: 220.290926 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 200.290926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850847; longitude = -121.962963; captureRadius = 10; duration = 54; initialDepth = 203.795788; finalDepth = 200.290926; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:200.290926 # Seafloor depth:-220.290926 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 223.795788 meters looking forward 0.000000 meters along route # Maximum depth: 223.795788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 203.795788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850397; longitude = -121.963071; captureRadius = 10; duration = 54; initialDepth = 206.339413; finalDepth = 203.795788; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:203.795788 # Seafloor depth:-223.795788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 226.339413 meters looking forward 0.000000 meters along route # Maximum depth: 226.339413 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 206.339413 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849946; longitude = -121.963180; captureRadius = 10; duration = 54; initialDepth = 209.582733; finalDepth = 206.339413; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:206.339413 # Seafloor depth:-226.339413 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 229.582733 meters looking forward 0.000000 meters along route # Maximum depth: 229.582733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 209.582733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849495; longitude = -121.963288; captureRadius = 10; duration = 54; initialDepth = 212.784195; finalDepth = 209.582733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:209.582733 # Seafloor depth:-229.582733 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 232.784195 meters looking forward 0.000000 meters along route # Maximum depth: 232.784195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 212.784195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849045; longitude = -121.963397; captureRadius = 10; duration = 54; initialDepth = 214.769299; finalDepth = 212.784195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:212.784195 # Seafloor depth:-232.784195 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 234.769299 meters looking forward 0.000000 meters along route # Maximum depth: 234.769299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 214.769299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848594; longitude = -121.963505; captureRadius = 10; duration = 54; initialDepth = 216.881854; finalDepth = 214.769299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:214.769299 # Seafloor depth:-234.769299 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 236.881854 meters looking forward 0.000000 meters along route # Maximum depth: 236.881854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 216.881854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848144; longitude = -121.963613; captureRadius = 10; duration = 54; initialDepth = 219.014118; finalDepth = 216.881854; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:216.881854 # Seafloor depth:-236.881854 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 239.014118 meters looking forward 0.000000 meters along route # Maximum depth: 239.014118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 219.014118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847693; longitude = -121.963722; captureRadius = 10; duration = 54; initialDepth = 221.908447; finalDepth = 219.014118; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:219.014118 # Seafloor depth:-239.014118 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 241.908447 meters looking forward 0.000000 meters along route # Maximum depth: 241.908447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 221.908447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847242; longitude = -121.963830; captureRadius = 10; duration = 54; initialDepth = 224.508467; finalDepth = 221.908447; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:221.908447 # Seafloor depth:-241.908447 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 244.508467 meters looking forward 0.000000 meters along route # Maximum depth: 244.508467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 224.508467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846792; longitude = -121.963939; captureRadius = 10; duration = 54; initialDepth = 227.892432; finalDepth = 224.508467; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:224.508467 # Seafloor depth:-244.508467 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 247.892432 meters looking forward 0.000000 meters along route # Maximum depth: 247.892432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 227.892432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846341; longitude = -121.964047; captureRadius = 10; duration = 54; initialDepth = 230.228519; finalDepth = 227.892432; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:227.892432 # Seafloor depth:-247.892432 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 250.228519 meters looking forward 0.000000 meters along route # Maximum depth: 250.228519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 230.228519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845888; longitude = -121.964156; captureRadius = 10; duration = 54; initialDepth = 232.811700; finalDepth = 230.228519; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:230.228519 # Seafloor depth:-250.228519 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 252.811700 meters looking forward 0.000000 meters along route # Maximum depth: 252.811700 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 232.811700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845440; longitude = -121.964264; captureRadius = 10; duration = 54; initialDepth = 234.998682; finalDepth = 232.811700; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:232.8117 # Seafloor depth:-252.811700 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 254.998682 meters looking forward 0.000000 meters along route # Maximum depth: 254.998682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.998682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844989; longitude = -121.964372; captureRadius = 10; duration = 54; initialDepth = 236.666153; finalDepth = 234.998682; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:234.998682 # Seafloor depth:-254.998682 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 256.666153 meters looking forward 0.000000 meters along route # Maximum depth: 256.666153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.666153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844539; longitude = -121.964481; captureRadius = 10; duration = 54; initialDepth = 238.754161; finalDepth = 236.666153; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:236.666153 # Seafloor depth:-256.666153 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 258.754161 meters looking forward 0.000000 meters along route # Maximum depth: 258.754161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 238.754161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844088; longitude = -121.964589; captureRadius = 10; duration = 54; initialDepth = 242.538015; finalDepth = 238.754161; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:238.754161 # Seafloor depth:-258.754161 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 262.538015 meters looking forward 0.000000 meters along route # Maximum depth: 262.538015 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 242.538015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843637; longitude = -121.964698; captureRadius = 10; duration = 54; initialDepth = 245.642732; finalDepth = 242.538015; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:242.538015 # Seafloor depth:-262.538015 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 265.642732 meters looking forward 0.000000 meters along route # Maximum depth: 265.642732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 245.642732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843187; longitude = -121.964806; captureRadius = 10; duration = 54; initialDepth = 248.313321; finalDepth = 245.642732; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:245.642732 # Seafloor depth:-265.642732 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 268.313321 meters looking forward 0.000000 meters along route # Maximum depth: 268.313321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 248.313321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842736; longitude = -121.964914; captureRadius = 10; duration = 54; initialDepth = 251.369019; finalDepth = 248.313321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:248.313321 # Seafloor depth:-268.313321 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 271.369019 meters looking forward 0.000000 meters along route # Maximum depth: 271.369019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 251.369019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842286; longitude = -121.965023; captureRadius = 10; duration = 54; initialDepth = 255.392538; finalDepth = 251.369019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:251.369019 # Seafloor depth:-271.369019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 275.392538 meters looking forward 0.000000 meters along route # Maximum depth: 275.392538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 255.392538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841835; longitude = -121.965131; captureRadius = 10; duration = 54; initialDepth = 259.108279; finalDepth = 255.392538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:255.392538 # Seafloor depth:-275.392538 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.409126 meters # Minimum depth: 279.108279 meters looking forward 0.000000 meters along route # Maximum depth: 279.108279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 259.108279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841384; longitude = -121.965240; captureRadius = 10; duration = 54; initialDepth = 266.325887; finalDepth = 259.108279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:259.108279 # Seafloor depth:-279.108279 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 54.409126 meters # Minimum depth: 286.325887 meters looking forward 0.000000 meters along route # Maximum depth: 286.325887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 266.325887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840919; longitude = -121.965352; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 265.036236; finalDepth = 266.325887; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:266.325887 # Seafloor depth:-286.325887 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.409126 meters # Minimum depth: 285.036236 meters looking forward 0.000000 meters along route # Maximum depth: 285.036236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 265.036236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840887; longitude = -121.965053; captureRadius = 10; duration = 54; initialDepth = 254.090099; finalDepth = 265.036236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:265.036236 # Seafloor depth:-285.036236 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.409126 meters # Minimum depth: 274.090099 meters looking forward 0.000000 meters along route # Maximum depth: 274.090099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 254.090099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840829; longitude = -121.964492; captureRadius = 10; duration = 54; initialDepth = 230.353109; finalDepth = 254.090099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:254.090099 # Seafloor depth:-274.090099 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 54.409126 meters # Minimum depth: 250.353109 meters looking forward 0.000000 meters along route # Maximum depth: 250.353109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 230.353109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840768; longitude = -121.963913; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 233.844536; finalDepth = 230.353109; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:230.353109 # Seafloor depth:-250.353109 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 253.844536 meters looking forward 0.000000 meters along route # Maximum depth: 253.844536 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 233.844536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840917; longitude = -121.963876; captureRadius = 10; duration = 54; initialDepth = 236.722421; finalDepth = 233.844536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:233.844536 # Seafloor depth:-253.844536 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 256.722421 meters looking forward 0.000000 meters along route # Maximum depth: 256.722421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.722421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841361; longitude = -121.963764; captureRadius = 10; duration = 54; initialDepth = 237.827228; finalDepth = 236.722421; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:236.722421 # Seafloor depth:-256.722421 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 257.827228 meters looking forward 0.000000 meters along route # Maximum depth: 257.827228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 237.827228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841806; longitude = -121.963652; captureRadius = 10; duration = 54; initialDepth = 236.470521; finalDepth = 237.827228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:237.827228 # Seafloor depth:-257.827228 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 256.470521 meters looking forward 0.000000 meters along route # Maximum depth: 256.470521 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 236.470521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842250; longitude = -121.963540; captureRadius = 10; duration = 54; initialDepth = 234.485341; finalDepth = 236.470521; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:236.470521 # Seafloor depth:-256.470521 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 254.485341 meters looking forward 0.000000 meters along route # Maximum depth: 254.485341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 234.485341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842695; longitude = -121.963428; captureRadius = 10; duration = 54; initialDepth = 230.495314; finalDepth = 234.485341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:234.485341 # Seafloor depth:-254.485341 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 250.495314 meters looking forward 0.000000 meters along route # Maximum depth: 250.495314 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 230.495314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843142; longitude = -121.963315; captureRadius = 10; duration = 54; initialDepth = 227.249507; finalDepth = 230.495314; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:230.495314 # Seafloor depth:-250.495314 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 247.249507 meters looking forward 0.000000 meters along route # Maximum depth: 247.249507 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 227.249507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843584; longitude = -121.963203; captureRadius = 10; duration = 54; initialDepth = 225.584672; finalDepth = 227.249507; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:227.249507 # Seafloor depth:-247.249507 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 245.584672 meters looking forward 0.000000 meters along route # Maximum depth: 245.584672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 225.584672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844028; longitude = -121.963091; captureRadius = 10; duration = 54; initialDepth = 222.798762; finalDepth = 225.584672; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:225.584672 # Seafloor depth:-245.584672 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 242.798762 meters looking forward 0.000000 meters along route # Maximum depth: 242.798762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 222.798762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844473; longitude = -121.962979; captureRadius = 10; duration = 54; initialDepth = 219.790936; finalDepth = 222.798762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:222.798762 # Seafloor depth:-242.798762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 239.790936 meters looking forward 0.000000 meters along route # Maximum depth: 239.790936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 219.790936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844917; longitude = -121.962867; captureRadius = 10; duration = 54; initialDepth = 218.078437; finalDepth = 219.790936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:219.790936 # Seafloor depth:-239.790936 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 238.078437 meters looking forward 0.000000 meters along route # Maximum depth: 238.078437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 218.078437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845362; longitude = -121.962755; captureRadius = 10; duration = 54; initialDepth = 216.654130; finalDepth = 218.078437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:218.078437 # Seafloor depth:-238.078437 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 236.654130 meters looking forward 0.000000 meters along route # Maximum depth: 236.654130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 216.654130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845806; longitude = -121.962643; captureRadius = 10; duration = 54; initialDepth = 215.603272; finalDepth = 216.654130; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:216.65413 # Seafloor depth:-236.654130 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 235.603272 meters looking forward 0.000000 meters along route # Maximum depth: 235.603272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 215.603272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846251; longitude = -121.962531; captureRadius = 10; duration = 54; initialDepth = 214.373574; finalDepth = 215.603272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:215.603272 # Seafloor depth:-235.603272 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 234.373574 meters looking forward 0.000000 meters along route # Maximum depth: 234.373574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 214.373574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846695; longitude = -121.962419; captureRadius = 10; duration = 54; initialDepth = 213.749489; finalDepth = 214.373574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:214.373574 # Seafloor depth:-234.373574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 233.749489 meters looking forward 0.000000 meters along route # Maximum depth: 233.749489 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 213.749489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847140; longitude = -121.962307; captureRadius = 10; duration = 54; initialDepth = 209.997559; finalDepth = 213.749489; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:213.749489 # Seafloor depth:-233.749489 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 229.997559 meters looking forward 0.000000 meters along route # Maximum depth: 229.997559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 209.997559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847584; longitude = -121.962195; captureRadius = 10; duration = 54; initialDepth = 204.536436; finalDepth = 209.997559; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:209.997559 # Seafloor depth:-229.997559 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 224.536436 meters looking forward 0.000000 meters along route # Maximum depth: 224.536436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 204.536436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848029; longitude = -121.962082; captureRadius = 10; duration = 54; initialDepth = 201.167923; finalDepth = 204.536436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:204.536436 # Seafloor depth:-224.536436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 221.167923 meters looking forward 0.000000 meters along route # Maximum depth: 221.167923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 201.167923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848473; longitude = -121.961970; captureRadius = 10; duration = 54; initialDepth = 198.846171; finalDepth = 201.167923; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:201.167923 # Seafloor depth:-221.167923 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 218.846171 meters looking forward 0.000000 meters along route # Maximum depth: 218.846171 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 198.846171 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848918; longitude = -121.961858; captureRadius = 10; duration = 54; initialDepth = 194.942070; finalDepth = 198.846171; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:198.846171 # Seafloor depth:-218.846171 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 214.942070 meters looking forward 0.000000 meters along route # Maximum depth: 214.942070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 194.942070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849362; longitude = -121.961746; captureRadius = 10; duration = 54; initialDepth = 196.079227; finalDepth = 194.942070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:194.94207 # Seafloor depth:-214.942070 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 216.079227 meters looking forward 0.000000 meters along route # Maximum depth: 216.079227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 196.079227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849807; longitude = -121.961634; captureRadius = 10; duration = 54; initialDepth = 195.395553; finalDepth = 196.079227; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:196.079227 # Seafloor depth:-216.079227 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 215.395553 meters looking forward 0.000000 meters along route # Maximum depth: 215.395553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 195.395553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850251; longitude = -121.961522; captureRadius = 10; duration = 54; initialDepth = 191.874124; finalDepth = 195.395553; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:195.395553 # Seafloor depth:-215.395553 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 211.874124 meters looking forward 0.000000 meters along route # Maximum depth: 211.874124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 191.874124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850696; longitude = -121.961410; captureRadius = 10; duration = 54; initialDepth = 189.498444; finalDepth = 191.874124; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:191.874124 # Seafloor depth:-211.874124 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 209.498444 meters looking forward 0.000000 meters along route # Maximum depth: 209.498444 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 189.498444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851140; longitude = -121.961298; captureRadius = 10; duration = 54; initialDepth = 186.006433; finalDepth = 189.498444; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:189.498444 # Seafloor depth:-209.498444 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 206.006433 meters looking forward 0.000000 meters along route # Maximum depth: 206.006433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 186.006433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851585; longitude = -121.961186; captureRadius = 10; duration = 54; initialDepth = 183.764554; finalDepth = 186.006433; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:186.006433 # Seafloor depth:-206.006433 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 203.764554 meters looking forward 0.000000 meters along route # Maximum depth: 203.764554 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 183.764554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852029; longitude = -121.961074; captureRadius = 10; duration = 54; initialDepth = 178.111148; finalDepth = 183.764554; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:183.764554 # Seafloor depth:-203.764554 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 198.111148 meters looking forward 0.000000 meters along route # Maximum depth: 198.111148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 178.111148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852474; longitude = -121.960962; captureRadius = 10; duration = 54; initialDepth = 173.725570; finalDepth = 178.111148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:178.111148 # Seafloor depth:-198.111148 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 193.725570 meters looking forward 0.000000 meters along route # Maximum depth: 193.725570 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 173.725570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852920; longitude = -121.960849; captureRadius = 10; duration = 54; initialDepth = 170.091465; finalDepth = 173.725570; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:173.72557 # Seafloor depth:-193.725570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 190.091465 meters looking forward 0.000000 meters along route # Maximum depth: 190.091465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 170.091465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853371; longitude = -121.960735; captureRadius = 10; duration = 54; initialDepth = 165.242347; finalDepth = 170.091465; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:170.091465 # Seafloor depth:-190.091465 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 185.242347 meters looking forward 0.000000 meters along route # Maximum depth: 185.242347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 165.242347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853821; longitude = -121.960622; captureRadius = 10; duration = 54; initialDepth = 162.255674; finalDepth = 165.242347; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:165.242347 # Seafloor depth:-185.242347 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 182.255674 meters looking forward 0.000000 meters along route # Maximum depth: 182.255674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 162.255674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854272; longitude = -121.960508; captureRadius = 10; duration = 54; initialDepth = 160.155841; finalDepth = 162.255674; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:162.255674 # Seafloor depth:-182.255674 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 180.155841 meters looking forward 0.000000 meters along route # Maximum depth: 180.155841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 160.155841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854723; longitude = -121.960395; captureRadius = 10; duration = 54; initialDepth = 154.184081; finalDepth = 160.155841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:160.155841 # Seafloor depth:-180.155841 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 174.184081 meters looking forward 0.000000 meters along route # Maximum depth: 174.184081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 154.184081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855173; longitude = -121.960281; captureRadius = 10; duration = 54; initialDepth = 150.430037; finalDepth = 154.184081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:154.184081 # Seafloor depth:-174.184081 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 170.430037 meters looking forward 0.000000 meters along route # Maximum depth: 170.430037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 150.430037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855624; longitude = -121.960167; captureRadius = 10; duration = 54; initialDepth = 144.698307; finalDepth = 150.430037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:150.430037 # Seafloor depth:-170.430037 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 164.698307 meters looking forward 0.000000 meters along route # Maximum depth: 164.698307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 144.698307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856074; longitude = -121.960054; captureRadius = 10; duration = 54; initialDepth = 141.063736; finalDepth = 144.698307; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:144.698307 # Seafloor depth:-164.698307 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 161.063736 meters looking forward 0.000000 meters along route # Maximum depth: 161.063736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 141.063736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856525; longitude = -121.959940; captureRadius = 10; duration = 54; initialDepth = 135.273003; finalDepth = 141.063736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:141.063736 # Seafloor depth:-161.063736 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 155.273003 meters looking forward 0.000000 meters along route # Maximum depth: 155.273003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 135.273003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856976; longitude = -121.959826; captureRadius = 10; duration = 54; initialDepth = 128.833918; finalDepth = 135.273003; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:135.273003 # Seafloor depth:-155.273003 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 148.833918 meters looking forward 0.000000 meters along route # Maximum depth: 148.833918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 128.833918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857426; longitude = -121.959713; captureRadius = 10; duration = 54; initialDepth = 125.653420; finalDepth = 128.833918; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:128.833918 # Seafloor depth:-148.833918 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 145.653420 meters looking forward 0.000000 meters along route # Maximum depth: 145.653420 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 125.653420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857877; longitude = -121.959599; captureRadius = 10; duration = 54; initialDepth = 119.759366; finalDepth = 125.653420; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:125.65342 # Seafloor depth:-145.653420 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 139.759366 meters looking forward 0.000000 meters along route # Maximum depth: 139.759366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 119.759366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858328; longitude = -121.959485; captureRadius = 10; duration = 54; initialDepth = 114.230019; finalDepth = 119.759366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:119.759366 # Seafloor depth:-139.759366 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 134.230019 meters looking forward 0.000000 meters along route # Maximum depth: 134.230019 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 114.230019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858778; longitude = -121.959372; captureRadius = 10; duration = 54; initialDepth = 109.240541; finalDepth = 114.230019; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:114.230019 # Seafloor depth:-134.230019 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 129.240541 meters looking forward 0.000000 meters along route # Maximum depth: 129.240541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 109.240541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859229; longitude = -121.959258; captureRadius = 10; duration = 54; initialDepth = 105.133121; finalDepth = 109.240541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:109.240541 # Seafloor depth:-129.240541 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 125.133121 meters looking forward 0.000000 meters along route # Maximum depth: 125.133121 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 105.133121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859679; longitude = -121.959145; captureRadius = 10; duration = 54; initialDepth = 101.428576; finalDepth = 105.133121; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:105.133121 # Seafloor depth:-125.133121 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 121.428576 meters looking forward 0.000000 meters along route # Maximum depth: 121.428576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 101.428576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860130; longitude = -121.959031; captureRadius = 10; duration = 54; initialDepth = 97.979335; finalDepth = 101.428576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:101.428576 # Seafloor depth:-121.428576 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 117.979335 meters looking forward 0.000000 meters along route # Maximum depth: 117.979335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 97.979335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860581; longitude = -121.958917; captureRadius = 10; duration = 54; initialDepth = 94.418994; finalDepth = 97.979335; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:97.979335 # Seafloor depth:-117.979335 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.409126 meters # Minimum depth: 114.418994 meters looking forward 0.000000 meters along route # Maximum depth: 114.418994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 94.418994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861031; longitude = -121.958804; captureRadius = 10; duration = 54; initialDepth = 91.216695; finalDepth = 94.418994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 20 # Actual altitude: 25 # Commanded vehicle depth:94.418994 # Seafloor depth:-114.418994 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; 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: 20 # Sonar parameter altitude: 25 # Commanded vehicle depth:91.216695 # Seafloor depth:-111.216695 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; 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 = 100.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 54.409126 meters # Minimum depth: 111.216695 meters looking forward 0.000000 meters along route # Maximum depth: 111.216695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 273.825887 meters # Desired vehicle altitude: 20.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 91.216695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.861512; longitude = -121.958682; captureRadius = 10; duration = 600; initialDepth = 91.216695; finalDepth = 91.216695; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 190.833118; 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 = 190.833118; 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 = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 80.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 8.00; MB_Bottom_Detect_Filter_Max_Range = 80.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 60.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################