# 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: 2009MBCanyon_3v2.rte # Mission File: 2009MBCanyon_3v2.cfg # Distance: 70491.252817 (m) # Estimated Time: 51441 (s) 14.289 (hr) # Abort Time: 58722 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 4277 (s) # Way Points: 42 # Route Points: 688 # Survey behavior: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 83 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.4 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 3666.712816 (m) # Abort Vehicle Depth: 3691.712816 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 3465.134705 m # Spiral descent altitude: 50 m # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -123.275890 36.064758 -3525.134705 0.000000 3 # 1 -123.223464 36.065840 -3550.676514 4722.687005 4 # 2 -123.223798 36.073410 -3551.106262 5562.863126 3 # 3 -123.277225 36.071247 -3490.229980 10379.719427 4 # 4 -123.279340 36.075483 -3478.020081 10886.693089 3 # 5 -123.224132 36.079899 -3551.622925 15881.678783 4 # 6 -123.232869 36.086516 -3549.983948 16957.520271 3 # 7 -123.231316 36.061011 -3600.917297 19789.901798 4 # 8 -123.232980 36.060944 -3615.209595 19939.943578 3 # 9 -123.234533 36.086450 -3553.879150 22772.436081 4 # 10 -123.236197 36.086383 -3558.237305 22922.429691 3 # 11 -123.234643 36.060877 -3625.190491 25754.926836 4 # 12 -123.236307 36.060811 -3633.731934 25904.963439 3 # 13 -123.237861 36.086316 -3566.235352 28737.349999 4 # 14 -123.239525 36.086249 -3617.480103 28887.343887 3 # 15 -123.237970 36.060744 -3643.585876 31719.735096 4 # 16 -123.239634 36.060677 -3641.752502 31869.777428 3 # 17 -123.241189 36.086182 -3617.894409 34702.168837 4 # 18 -123.242853 36.086115 -3627.262146 34852.163003 3 # 19 -123.241297 36.060610 -3646.052185 37684.559066 4 # 20 -123.242961 36.060543 -3660.084656 37834.601676 3 # 21 -123.244518 36.086048 -3640.515625 40667.002397 4 # 22 -123.246182 36.085981 -3649.399048 40816.996841 3 # 23 -123.244624 36.060476 -3654.526794 43649.402226 4 # 24 -123.246288 36.060409 -3670.041016 43799.445114 3 # 25 -123.247846 36.085914 -3659.671692 46631.850705 4 # 26 -123.249510 36.085847 -3681.183044 46781.845428 3 # 27 -123.247951 36.060342 -3672.304138 49614.255688 4 # 28 -123.249615 36.060275 -3682.464661 49764.298855 3 # 29 -123.251174 36.085780 -3673.428406 52596.709324 4 # 30 -123.252838 36.085713 -3668.493164 52746.704326 3 # 31 -123.251278 36.060208 -3670.260376 55579.119471 4 # 32 -123.252942 36.060141 -3611.405701 55729.162916 3 # 33 -123.254502 36.085646 -3646.057129 58561.578273 4 # 34 -123.256166 36.085579 -3624.198914 58711.573554 3 # 35 -123.254605 36.060074 -3586.600403 61543.993592 4 # 36 -123.256269 36.060007 -3577.096924 61694.037317 3 # 37 -123.257830 36.085512 -3597.256226 64526.457571 4 # 38 -123.259494 36.085445 -3571.386841 64676.453131 3 # 39 -123.257933 36.059940 -3573.965698 67508.873603 4 # 40 -123.259596 36.059873 -3577.686768 67658.827657 3 # 41 -123.261158 36.085378 -3564.496765 70491.252817 4 # # A total of 688 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 57600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3666.712816; abortDepth = 3691.712816; minAltitude = 50.000000; abortAltitude = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 4277; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # 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 = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 117.309143 meters # Minimum depth: 3564.496765 meters looking forward 0.000000 meters along route # Maximum depth: 3564.496765 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3514.496765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085378; longitude = -123.261158; captureRadius = 10; duration = 234; # abortOnTimeout = True; initialDepth = 3501.845529; finalDepth = 3514.496765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3514.496765 # Seafloor depth: -3564.496765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098798 meters # Minimum depth: 3551.845529 meters looking forward 0.000000 meters along route # Maximum depth: 3551.845529 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.845529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084322; longitude = -123.261093; captureRadius = 10; duration = 200; initialDepth = 3487.990757; finalDepth = 3501.845529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.845529 # Seafloor depth: -3551.845529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098785 meters # Minimum depth: 3537.990757 meters looking forward 0.000000 meters along route # Maximum depth: 3537.990757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3487.990757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083420; longitude = -123.261038; captureRadius = 10; duration = 200; initialDepth = 3471.561630; finalDepth = 3487.990757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3487.990757 # Seafloor depth: -3537.990757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098773 meters # Minimum depth: 3521.561630 meters looking forward 0.000000 meters along route # Maximum depth: 3521.561630 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3471.561630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082519; longitude = -123.260983; captureRadius = 10; duration = 200; initialDepth = 3473.354484; finalDepth = 3471.561630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3471.56163 # Seafloor depth: -3521.561630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098761 meters # Minimum depth: 3523.354484 meters looking forward 0.000000 meters along route # Maximum depth: 3523.354484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3473.354484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081618; longitude = -123.260928; captureRadius = 10; duration = 200; initialDepth = 3475.136662; finalDepth = 3473.354484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3473.354484 # Seafloor depth: -3523.354484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098748 meters # Minimum depth: 3525.136662 meters looking forward 0.000000 meters along route # Maximum depth: 3525.136662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.136662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080716; longitude = -123.260873; captureRadius = 10; duration = 200; initialDepth = 3477.523736; finalDepth = 3475.136662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3475.136662 # Seafloor depth: -3525.136662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098736 meters # Minimum depth: 3527.523736 meters looking forward 0.000000 meters along route # Maximum depth: 3527.523736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3477.523736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079815; longitude = -123.260817; captureRadius = 10; duration = 200; initialDepth = 3478.517366; finalDepth = 3477.523736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3477.523736 # Seafloor depth: -3527.523736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098723 meters # Minimum depth: 3528.517366 meters looking forward 0.000000 meters along route # Maximum depth: 3528.517366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3478.517366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078914; longitude = -123.260762; captureRadius = 10; duration = 200; initialDepth = 3481.359901; finalDepth = 3478.517366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3478.517366 # Seafloor depth: -3528.517366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098710 meters # Minimum depth: 3531.359901 meters looking forward 0.000000 meters along route # Maximum depth: 3531.359901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3481.359901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078012; longitude = -123.260707; captureRadius = 10; duration = 200; initialDepth = 3482.285006; finalDepth = 3481.359901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3481.359901 # Seafloor depth: -3531.359901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098698 meters # Minimum depth: 3532.285006 meters looking forward 0.000000 meters along route # Maximum depth: 3532.285006 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3482.285006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077111; longitude = -123.260652; captureRadius = 10; duration = 200; initialDepth = 3477.327829; finalDepth = 3482.285006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3482.285006 # Seafloor depth: -3532.285006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098686 meters # Minimum depth: 3527.327829 meters looking forward 0.000000 meters along route # Maximum depth: 3527.327829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3477.327829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076209; longitude = -123.260596; captureRadius = 10; duration = 200; initialDepth = 3476.971843; finalDepth = 3477.327829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3477.327829 # Seafloor depth: -3527.327829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098673 meters # Minimum depth: 3526.971843 meters looking forward 0.000000 meters along route # Maximum depth: 3526.971843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3476.971843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075308; longitude = -123.260541; captureRadius = 10; duration = 200; initialDepth = 3479.482403; finalDepth = 3476.971843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3476.971843 # Seafloor depth: -3526.971843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098661 meters # Minimum depth: 3529.482403 meters looking forward 0.000000 meters along route # Maximum depth: 3529.482403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3479.482403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074407; longitude = -123.260486; captureRadius = 10; duration = 200; initialDepth = 3481.327376; finalDepth = 3479.482403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3479.482403 # Seafloor depth: -3529.482403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098648 meters # Minimum depth: 3531.327376 meters looking forward 0.000000 meters along route # Maximum depth: 3531.327376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3481.327376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073505; longitude = -123.260431; captureRadius = 10; duration = 200; initialDepth = 3474.718134; finalDepth = 3481.327376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3481.327376 # Seafloor depth: -3531.327376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098635 meters # Minimum depth: 3524.718134 meters looking forward 0.000000 meters along route # Maximum depth: 3524.718134 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3474.718134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072604; longitude = -123.260376; captureRadius = 10; duration = 200; initialDepth = 3471.558319; finalDepth = 3474.718134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3474.718134 # Seafloor depth: -3524.718134 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098623 meters # Minimum depth: 3521.558319 meters looking forward 0.000000 meters along route # Maximum depth: 3521.558319 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3471.558319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071703; longitude = -123.260320; captureRadius = 10; duration = 200; initialDepth = 3469.560075; finalDepth = 3471.558319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3471.558319 # Seafloor depth: -3521.558319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098611 meters # Minimum depth: 3519.560075 meters looking forward 0.000000 meters along route # Maximum depth: 3519.560075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.560075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070801; longitude = -123.260265; captureRadius = 10; duration = 200; initialDepth = 3473.666750; finalDepth = 3469.560075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3469.560075 # Seafloor depth: -3519.560075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098598 meters # Minimum depth: 3523.666750 meters looking forward 0.000000 meters along route # Maximum depth: 3523.666750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3473.666750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069900; longitude = -123.260210; captureRadius = 10; duration = 200; initialDepth = 3472.533025; finalDepth = 3473.666750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3473.66675 # Seafloor depth: -3523.666750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098585 meters # Minimum depth: 3522.533025 meters looking forward 0.000000 meters along route # Maximum depth: 3522.533025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3472.533025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068999; longitude = -123.260155; captureRadius = 10; duration = 200; initialDepth = 3472.598434; finalDepth = 3472.533025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3472.533025 # Seafloor depth: -3522.533025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098574 meters # Minimum depth: 3522.598434 meters looking forward 0.000000 meters along route # Maximum depth: 3522.598434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3472.598434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068097; longitude = -123.260100; captureRadius = 10; duration = 200; initialDepth = 3475.161304; finalDepth = 3472.598434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3472.598434 # Seafloor depth: -3522.598434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098560 meters # Minimum depth: 3525.161304 meters looking forward 0.000000 meters along route # Maximum depth: 3525.161304 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.161304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067196; longitude = -123.260044; captureRadius = 10; duration = 200; initialDepth = 3481.037921; finalDepth = 3475.161304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3475.161304 # Seafloor depth: -3525.161304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098548 meters # Minimum depth: 3531.037921 meters looking forward 0.000000 meters along route # Maximum depth: 3531.037921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3481.037921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066295; longitude = -123.259989; captureRadius = 10; duration = 200; initialDepth = 3489.109425; finalDepth = 3481.037921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3481.037921 # Seafloor depth: -3531.037921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098536 meters # Minimum depth: 3539.109425 meters looking forward 0.000000 meters along route # Maximum depth: 3539.109425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3489.109425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065393; longitude = -123.259934; captureRadius = 10; duration = 200; initialDepth = 3492.412022; finalDepth = 3489.109425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3489.109425 # Seafloor depth: -3539.109425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098523 meters # Minimum depth: 3542.412022 meters looking forward 0.000000 meters along route # Maximum depth: 3542.412022 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3492.412022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064492; longitude = -123.259879; captureRadius = 10; duration = 200; initialDepth = 3497.822223; finalDepth = 3492.412022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3492.412022 # Seafloor depth: -3542.412022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098510 meters # Minimum depth: 3547.822223 meters looking forward 0.000000 meters along route # Maximum depth: 3547.822223 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.822223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063591; longitude = -123.259824; captureRadius = 10; duration = 200; initialDepth = 3509.801298; finalDepth = 3497.822223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.822223 # Seafloor depth: -3547.822223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098498 meters # Minimum depth: 3559.801298 meters looking forward 0.000000 meters along route # Maximum depth: 3559.801298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.801298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062689; longitude = -123.259768; captureRadius = 10; duration = 200; initialDepth = 3518.559130; finalDepth = 3509.801298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.801298 # Seafloor depth: -3559.801298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 100.098486 meters # Minimum depth: 3568.559130 meters looking forward 0.000000 meters along route # Maximum depth: 3568.559130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.559130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061788; longitude = -123.259713; captureRadius = 10; duration = 200; initialDepth = 3520.526555; finalDepth = 3518.559130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3518.55913 # Seafloor depth: -3568.559130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 112.551330 meters # Minimum depth: 3570.526555 meters looking forward 0.000000 meters along route # Maximum depth: 3570.526555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.526555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060886; longitude = -123.259658; captureRadius = 10; duration = 225; initialDepth = 3527.686768; finalDepth = 3520.526555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3520.526555 # Seafloor depth: -3570.526555 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 149.954054 meters # Minimum depth: 3577.686768 meters looking forward 0.000000 meters along route # Maximum depth: 3577.686768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3527.686768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.059873; longitude = -123.259596; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3523.965698; finalDepth = 3527.686768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3527.686768 # Seafloor depth: -3577.686768 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 105.110570 meters # Minimum depth: 3573.965698 meters looking forward 0.000000 meters along route # Maximum depth: 3573.965698 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3523.965698 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.059940; longitude = -123.257933; captureRadius = 10; duration = 210; # abortOnTimeout = True; initialDepth = 3522.773322; finalDepth = 3523.965698; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3523.965698 # Seafloor depth: -3573.965698 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098319 meters # Minimum depth: 3572.773322 meters looking forward 0.000000 meters along route # Maximum depth: 3572.773322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3522.773322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060886; longitude = -123.257991; captureRadius = 10; duration = 200; initialDepth = 3510.913064; finalDepth = 3522.773322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3522.773322 # Seafloor depth: -3572.773322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098331 meters # Minimum depth: 3560.913064 meters looking forward 0.000000 meters along route # Maximum depth: 3560.913064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3510.913064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061788; longitude = -123.258046; captureRadius = 10; duration = 200; initialDepth = 3503.894172; finalDepth = 3510.913064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.913064 # Seafloor depth: -3560.913064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098344 meters # Minimum depth: 3553.894172 meters looking forward 0.000000 meters along route # Maximum depth: 3553.894172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.894172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062689; longitude = -123.258101; captureRadius = 10; duration = 200; initialDepth = 3500.644052; finalDepth = 3503.894172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.894172 # Seafloor depth: -3553.894172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098356 meters # Minimum depth: 3550.644052 meters looking forward 0.000000 meters along route # Maximum depth: 3550.644052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.644052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063591; longitude = -123.258156; captureRadius = 10; duration = 200; initialDepth = 3491.388559; finalDepth = 3500.644052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.644052 # Seafloor depth: -3550.644052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098369 meters # Minimum depth: 3541.388559 meters looking forward 0.000000 meters along route # Maximum depth: 3541.388559 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3491.388559 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064492; longitude = -123.258212; captureRadius = 10; duration = 200; initialDepth = 3487.191192; finalDepth = 3491.388559; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3491.388559 # Seafloor depth: -3541.388559 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098382 meters # Minimum depth: 3537.191192 meters looking forward 0.000000 meters along route # Maximum depth: 3537.191192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3487.191192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065393; longitude = -123.258267; captureRadius = 10; duration = 200; initialDepth = 3481.560873; finalDepth = 3487.191192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3487.191192 # Seafloor depth: -3537.191192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098393 meters # Minimum depth: 3531.560873 meters looking forward 0.000000 meters along route # Maximum depth: 3531.560873 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3481.560873 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066295; longitude = -123.258322; captureRadius = 10; duration = 200; initialDepth = 3485.910063; finalDepth = 3481.560873; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3481.560873 # Seafloor depth: -3531.560873 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098407 meters # Minimum depth: 3535.910063 meters looking forward 0.000000 meters along route # Maximum depth: 3535.910063 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3485.910063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067196; longitude = -123.258377; captureRadius = 10; duration = 200; initialDepth = 3496.694748; finalDepth = 3485.910063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3485.910063 # Seafloor depth: -3535.910063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098419 meters # Minimum depth: 3546.694748 meters looking forward 0.000000 meters along route # Maximum depth: 3546.694748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.694748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068097; longitude = -123.258432; captureRadius = 10; duration = 200; initialDepth = 3503.058609; finalDepth = 3496.694748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.694748 # Seafloor depth: -3546.694748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098431 meters # Minimum depth: 3553.058609 meters looking forward 0.000000 meters along route # Maximum depth: 3553.058609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.058609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068999; longitude = -123.258487; captureRadius = 10; duration = 200; initialDepth = 3501.118962; finalDepth = 3503.058609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.058609 # Seafloor depth: -3553.058609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098444 meters # Minimum depth: 3551.118962 meters looking forward 0.000000 meters along route # Maximum depth: 3551.118962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.118962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069900; longitude = -123.258543; captureRadius = 10; duration = 200; initialDepth = 3495.817000; finalDepth = 3501.118962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.118962 # Seafloor depth: -3551.118962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098456 meters # Minimum depth: 3545.817000 meters looking forward 0.000000 meters along route # Maximum depth: 3545.817000 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.817000 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070801; longitude = -123.258598; captureRadius = 10; duration = 200; initialDepth = 3492.210975; finalDepth = 3495.817000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.817 # Seafloor depth: -3545.817000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098469 meters # Minimum depth: 3542.210975 meters looking forward 0.000000 meters along route # Maximum depth: 3542.210975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3492.210975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071703; longitude = -123.258653; captureRadius = 10; duration = 200; initialDepth = 3492.568177; finalDepth = 3492.210975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3492.210975 # Seafloor depth: -3542.210975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098482 meters # Minimum depth: 3542.568177 meters looking forward 0.000000 meters along route # Maximum depth: 3542.568177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3492.568177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072604; longitude = -123.258708; captureRadius = 10; duration = 200; initialDepth = 3494.534637; finalDepth = 3492.568177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3492.568177 # Seafloor depth: -3542.568177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098494 meters # Minimum depth: 3544.534637 meters looking forward 0.000000 meters along route # Maximum depth: 3544.534637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.534637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073505; longitude = -123.258763; captureRadius = 10; duration = 200; initialDepth = 3495.157767; finalDepth = 3494.534637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.534637 # Seafloor depth: -3544.534637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098506 meters # Minimum depth: 3545.157767 meters looking forward 0.000000 meters along route # Maximum depth: 3545.157767 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.157767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074407; longitude = -123.258818; captureRadius = 10; duration = 200; initialDepth = 3491.722255; finalDepth = 3495.157767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.157767 # Seafloor depth: -3545.157767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098519 meters # Minimum depth: 3541.722255 meters looking forward 0.000000 meters along route # Maximum depth: 3541.722255 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3491.722255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075308; longitude = -123.258874; captureRadius = 10; duration = 200; initialDepth = 3492.847739; finalDepth = 3491.722255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3491.722255 # Seafloor depth: -3541.722255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098532 meters # Minimum depth: 3542.847739 meters looking forward 0.000000 meters along route # Maximum depth: 3542.847739 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3492.847739 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076209; longitude = -123.258929; captureRadius = 10; duration = 200; initialDepth = 3496.904504; finalDepth = 3492.847739; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3492.847739 # Seafloor depth: -3542.847739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098544 meters # Minimum depth: 3546.904504 meters looking forward 0.000000 meters along route # Maximum depth: 3546.904504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.904504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077111; longitude = -123.258984; captureRadius = 10; duration = 200; initialDepth = 3498.325940; finalDepth = 3496.904504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.904504 # Seafloor depth: -3546.904504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098556 meters # Minimum depth: 3548.325940 meters looking forward 0.000000 meters along route # Maximum depth: 3548.325940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.325940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078012; longitude = -123.259039; captureRadius = 10; duration = 200; initialDepth = 3496.139960; finalDepth = 3498.325940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.32594 # Seafloor depth: -3548.325940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098569 meters # Minimum depth: 3546.139960 meters looking forward 0.000000 meters along route # Maximum depth: 3546.139960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.139960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078914; longitude = -123.259094; captureRadius = 10; duration = 200; initialDepth = 3495.162169; finalDepth = 3496.139960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.13996 # Seafloor depth: -3546.139960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098581 meters # Minimum depth: 3545.162169 meters looking forward 0.000000 meters along route # Maximum depth: 3545.162169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.162169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079815; longitude = -123.259149; captureRadius = 10; duration = 200; initialDepth = 3494.470884; finalDepth = 3495.162169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.162169 # Seafloor depth: -3545.162169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098594 meters # Minimum depth: 3544.470884 meters looking forward 0.000000 meters along route # Maximum depth: 3544.470884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.470884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080716; longitude = -123.259205; captureRadius = 10; duration = 200; initialDepth = 3494.913285; finalDepth = 3494.470884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.470884 # Seafloor depth: -3544.470884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098607 meters # Minimum depth: 3544.913285 meters looking forward 0.000000 meters along route # Maximum depth: 3544.913285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.913285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081618; longitude = -123.259260; captureRadius = 10; duration = 200; initialDepth = 3494.389263; finalDepth = 3494.913285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.913285 # Seafloor depth: -3544.913285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098619 meters # Minimum depth: 3544.389263 meters looking forward 0.000000 meters along route # Maximum depth: 3544.389263 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.389263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082519; longitude = -123.259315; captureRadius = 10; duration = 200; initialDepth = 3509.814493; finalDepth = 3494.389263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.389263 # Seafloor depth: -3544.389263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.098631 meters # Minimum depth: 3559.814493 meters looking forward 0.000000 meters along route # Maximum depth: 3559.814493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.814493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083420; longitude = -123.259370; captureRadius = 10; duration = 200; initialDepth = 3519.438269; finalDepth = 3509.814493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.814493 # Seafloor depth: -3559.814493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 124.749548 meters # Minimum depth: 3569.438269 meters looking forward 0.000000 meters along route # Maximum depth: 3569.438269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.438269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084322; longitude = -123.259425; captureRadius = 10; duration = 249; initialDepth = 3521.386841; finalDepth = 3519.438269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.438269 # Seafloor depth: -3569.438269 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 149.995560 meters # Minimum depth: 3571.386841 meters looking forward 0.000000 meters along route # Maximum depth: 3571.386841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3521.386841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085445; longitude = -123.259494; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3547.256226; finalDepth = 3521.386841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3521.386841 # Seafloor depth: -3571.386841 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 107.165479 meters # Minimum depth: 3597.256226 meters looking forward 0.000000 meters along route # Maximum depth: 3597.256226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3547.256226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085512; longitude = -123.257830; captureRadius = 10; duration = 214; # abortOnTimeout = True; initialDepth = 3541.093085; finalDepth = 3547.256226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3547.256226 # Seafloor depth: -3597.256226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098626 meters # Minimum depth: 3591.093085 meters looking forward 0.000000 meters along route # Maximum depth: 3591.093085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3541.093085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084547; longitude = -123.257771; captureRadius = 10; duration = 200; initialDepth = 3538.955278; finalDepth = 3541.093085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3541.093085 # Seafloor depth: -3591.093085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098613 meters # Minimum depth: 3588.955278 meters looking forward 0.000000 meters along route # Maximum depth: 3588.955278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.955278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083646; longitude = -123.257716; captureRadius = 10; duration = 200; initialDepth = 3540.731638; finalDepth = 3538.955278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.955278 # Seafloor depth: -3588.955278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098601 meters # Minimum depth: 3590.731638 meters looking forward 0.000000 meters along route # Maximum depth: 3590.731638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3540.731638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082744; longitude = -123.257661; captureRadius = 10; duration = 200; initialDepth = 3535.142790; finalDepth = 3540.731638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3540.731638 # Seafloor depth: -3590.731638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098589 meters # Minimum depth: 3585.142790 meters looking forward 0.000000 meters along route # Maximum depth: 3585.142790 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3535.142790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081843; longitude = -123.257605; captureRadius = 10; duration = 200; initialDepth = 3532.629586; finalDepth = 3535.142790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3535.14279 # Seafloor depth: -3585.142790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098576 meters # Minimum depth: 3582.629586 meters looking forward 0.000000 meters along route # Maximum depth: 3582.629586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3532.629586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080942; longitude = -123.257550; captureRadius = 10; duration = 200; initialDepth = 3532.205695; finalDepth = 3532.629586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3532.629586 # Seafloor depth: -3582.629586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098563 meters # Minimum depth: 3582.205695 meters looking forward 0.000000 meters along route # Maximum depth: 3582.205695 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3532.205695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080040; longitude = -123.257495; captureRadius = 10; duration = 200; initialDepth = 3534.171031; finalDepth = 3532.205695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3532.205695 # Seafloor depth: -3582.205695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098551 meters # Minimum depth: 3584.171031 meters looking forward 0.000000 meters along route # Maximum depth: 3584.171031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3534.171031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079139; longitude = -123.257440; captureRadius = 10; duration = 200; initialDepth = 3526.564154; finalDepth = 3534.171031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3534.171031 # Seafloor depth: -3584.171031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098539 meters # Minimum depth: 3576.564154 meters looking forward 0.000000 meters along route # Maximum depth: 3576.564154 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3526.564154 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078238; longitude = -123.257385; captureRadius = 10; duration = 200; initialDepth = 3524.651300; finalDepth = 3526.564154; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3526.564154 # Seafloor depth: -3576.564154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098526 meters # Minimum depth: 3574.651300 meters looking forward 0.000000 meters along route # Maximum depth: 3574.651300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3524.651300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077336; longitude = -123.257330; captureRadius = 10; duration = 200; initialDepth = 3523.227984; finalDepth = 3524.651300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3524.6513 # Seafloor depth: -3574.651300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098513 meters # Minimum depth: 3573.227984 meters looking forward 0.000000 meters along route # Maximum depth: 3573.227984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3523.227984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076435; longitude = -123.257274; captureRadius = 10; duration = 200; initialDepth = 3529.629276; finalDepth = 3523.227984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3523.227984 # Seafloor depth: -3573.227984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098501 meters # Minimum depth: 3579.629276 meters looking forward 0.000000 meters along route # Maximum depth: 3579.629276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3529.629276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075533; longitude = -123.257219; captureRadius = 10; duration = 200; initialDepth = 3531.493003; finalDepth = 3529.629276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3529.629276 # Seafloor depth: -3579.629276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098488 meters # Minimum depth: 3581.493003 meters looking forward 0.000000 meters along route # Maximum depth: 3581.493003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3531.493003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074632; longitude = -123.257164; captureRadius = 10; duration = 200; initialDepth = 3538.081322; finalDepth = 3531.493003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3531.493003 # Seafloor depth: -3581.493003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098476 meters # Minimum depth: 3588.081322 meters looking forward 0.000000 meters along route # Maximum depth: 3588.081322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.081322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073731; longitude = -123.257109; captureRadius = 10; duration = 200; initialDepth = 3547.254278; finalDepth = 3538.081322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.081322 # Seafloor depth: -3588.081322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098464 meters # Minimum depth: 3597.254278 meters looking forward 0.000000 meters along route # Maximum depth: 3597.254278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3547.254278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072829; longitude = -123.257054; captureRadius = 10; duration = 200; initialDepth = 3549.673936; finalDepth = 3547.254278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3547.254278 # Seafloor depth: -3597.254278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098451 meters # Minimum depth: 3599.673936 meters looking forward 0.000000 meters along route # Maximum depth: 3599.673936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3549.673936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071928; longitude = -123.256999; captureRadius = 10; duration = 200; initialDepth = 3544.753908; finalDepth = 3549.673936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3549.673936 # Seafloor depth: -3599.673936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098438 meters # Minimum depth: 3594.753908 meters looking forward 0.000000 meters along route # Maximum depth: 3594.753908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3544.753908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071027; longitude = -123.256943; captureRadius = 10; duration = 200; initialDepth = 3549.029404; finalDepth = 3544.753908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3544.753908 # Seafloor depth: -3594.753908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098426 meters # Minimum depth: 3599.029404 meters looking forward 0.000000 meters along route # Maximum depth: 3599.029404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3549.029404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070125; longitude = -123.256888; captureRadius = 10; duration = 200; initialDepth = 3546.367635; finalDepth = 3549.029404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3549.029404 # Seafloor depth: -3599.029404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098414 meters # Minimum depth: 3596.367635 meters looking forward 0.000000 meters along route # Maximum depth: 3596.367635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3546.367635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069224; longitude = -123.256833; captureRadius = 10; duration = 200; initialDepth = 3542.337625; finalDepth = 3546.367635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.367635 # Seafloor depth: -3596.367635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098400 meters # Minimum depth: 3592.337625 meters looking forward 0.000000 meters along route # Maximum depth: 3592.337625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3542.337625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068323; longitude = -123.256778; captureRadius = 10; duration = 200; initialDepth = 3526.675940; finalDepth = 3542.337625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3542.337625 # Seafloor depth: -3592.337625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098389 meters # Minimum depth: 3576.675940 meters looking forward 0.000000 meters along route # Maximum depth: 3576.675940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3526.675940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067421; longitude = -123.256723; captureRadius = 10; duration = 200; initialDepth = 3523.507112; finalDepth = 3526.675940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3526.67594 # Seafloor depth: -3576.675940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098376 meters # Minimum depth: 3573.507112 meters looking forward 0.000000 meters along route # Maximum depth: 3573.507112 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3523.507112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066520; longitude = -123.256668; captureRadius = 10; duration = 200; initialDepth = 3527.422626; finalDepth = 3523.507112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3523.507112 # Seafloor depth: -3573.507112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098363 meters # Minimum depth: 3577.422626 meters looking forward 0.000000 meters along route # Maximum depth: 3577.422626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3527.422626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065619; longitude = -123.256612; captureRadius = 10; duration = 200; initialDepth = 3520.319343; finalDepth = 3527.422626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3527.422626 # Seafloor depth: -3577.422626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098351 meters # Minimum depth: 3570.319343 meters looking forward 0.000000 meters along route # Maximum depth: 3570.319343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.319343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064717; longitude = -123.256557; captureRadius = 10; duration = 200; initialDepth = 3508.036637; finalDepth = 3520.319343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3520.319343 # Seafloor depth: -3570.319343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098339 meters # Minimum depth: 3558.036637 meters looking forward 0.000000 meters along route # Maximum depth: 3558.036637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.036637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063816; longitude = -123.256502; captureRadius = 10; duration = 200; initialDepth = 3508.230175; finalDepth = 3508.036637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.036637 # Seafloor depth: -3558.036637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098325 meters # Minimum depth: 3558.230175 meters looking forward 0.000000 meters along route # Maximum depth: 3558.230175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.230175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062915; longitude = -123.256447; captureRadius = 10; duration = 200; initialDepth = 3508.136271; finalDepth = 3508.230175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.230175 # Seafloor depth: -3558.230175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.098314 meters # Minimum depth: 3558.136271 meters looking forward 0.000000 meters along route # Maximum depth: 3558.136271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.136271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062013; longitude = -123.256392; captureRadius = 10; duration = 200; initialDepth = 3512.726931; finalDepth = 3508.136271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.136271 # Seafloor depth: -3558.136271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 122.694563 meters # Minimum depth: 3562.726931 meters looking forward 0.000000 meters along route # Maximum depth: 3562.726931 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.726931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061112; longitude = -123.256337; captureRadius = 10; duration = 245; initialDepth = 3527.096924; finalDepth = 3512.726931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3512.726931 # Seafloor depth: -3562.726931 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 150.043725 meters # Minimum depth: 3577.096924 meters looking forward 0.000000 meters along route # Maximum depth: 3577.096924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3527.096924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060007; longitude = -123.256269; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3536.600403; finalDepth = 3527.096924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3527.096924 # Seafloor depth: -3577.096924 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 115.253980 meters # Minimum depth: 3586.600403 meters looking forward 0.000000 meters along route # Maximum depth: 3586.600403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3536.600403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060074; longitude = -123.254605; captureRadius = 10; duration = 230; # abortOnTimeout = True; initialDepth = 3547.969749; finalDepth = 3536.600403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3536.600403 # Seafloor depth: -3586.600403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098305 meters # Minimum depth: 3597.969749 meters looking forward 0.000000 meters along route # Maximum depth: 3597.969749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3547.969749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061112; longitude = -123.254669; captureRadius = 10; duration = 200; initialDepth = 3549.627400; finalDepth = 3547.969749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3547.969749 # Seafloor depth: -3597.969749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098317 meters # Minimum depth: 3599.627400 meters looking forward 0.000000 meters along route # Maximum depth: 3599.627400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3549.627400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062013; longitude = -123.254724; captureRadius = 10; duration = 200; initialDepth = 3553.989744; finalDepth = 3549.627400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3549.6274 # Seafloor depth: -3599.627400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098330 meters # Minimum depth: 3603.989744 meters looking forward 0.000000 meters along route # Maximum depth: 3603.989744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3553.989744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062915; longitude = -123.254779; captureRadius = 10; duration = 200; initialDepth = 3563.423862; finalDepth = 3553.989744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3553.989744 # Seafloor depth: -3603.989744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098342 meters # Minimum depth: 3613.423862 meters looking forward 0.000000 meters along route # Maximum depth: 3613.423862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3563.423862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063816; longitude = -123.254834; captureRadius = 10; duration = 200; initialDepth = 3570.299637; finalDepth = 3563.423862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3563.423862 # Seafloor depth: -3613.423862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098355 meters # Minimum depth: 3620.299637 meters looking forward 0.000000 meters along route # Maximum depth: 3620.299637 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3570.299637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064717; longitude = -123.254889; captureRadius = 10; duration = 200; initialDepth = 3575.438194; finalDepth = 3570.299637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3570.299637 # Seafloor depth: -3620.299637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098368 meters # Minimum depth: 3625.438194 meters looking forward 0.000000 meters along route # Maximum depth: 3625.438194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.438194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065619; longitude = -123.254944; captureRadius = 10; duration = 200; initialDepth = 3562.775551; finalDepth = 3575.438194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.438194 # Seafloor depth: -3625.438194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098379 meters # Minimum depth: 3612.775551 meters looking forward 0.000000 meters along route # Maximum depth: 3612.775551 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3562.775551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066520; longitude = -123.255000; captureRadius = 10; duration = 200; initialDepth = 3565.831471; finalDepth = 3562.775551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3562.775551 # Seafloor depth: -3612.775551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098393 meters # Minimum depth: 3615.831471 meters looking forward 0.000000 meters along route # Maximum depth: 3615.831471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3565.831471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067421; longitude = -123.255055; captureRadius = 10; duration = 200; initialDepth = 3583.257116; finalDepth = 3565.831471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3565.831471 # Seafloor depth: -3615.831471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098405 meters # Minimum depth: 3633.257116 meters looking forward 0.000000 meters along route # Maximum depth: 3633.257116 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3583.257116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068323; longitude = -123.255110; captureRadius = 10; duration = 200; initialDepth = 3602.691012; finalDepth = 3583.257116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.257116 # Seafloor depth: -3633.257116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098417 meters # Minimum depth: 3652.691012 meters looking forward 0.000000 meters along route # Maximum depth: 3652.691012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.691012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069224; longitude = -123.255165; captureRadius = 10; duration = 200; initialDepth = 3593.195351; finalDepth = 3602.691012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.691012 # Seafloor depth: -3652.691012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098430 meters # Minimum depth: 3643.195351 meters looking forward 0.000000 meters along route # Maximum depth: 3643.195351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3593.195351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070125; longitude = -123.255220; captureRadius = 10; duration = 200; initialDepth = 3596.618298; finalDepth = 3593.195351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3593.195351 # Seafloor depth: -3643.195351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098442 meters # Minimum depth: 3646.618298 meters looking forward 0.000000 meters along route # Maximum depth: 3646.618298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3596.618298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071027; longitude = -123.255275; captureRadius = 10; duration = 200; initialDepth = 3601.770936; finalDepth = 3596.618298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.618298 # Seafloor depth: -3646.618298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098455 meters # Minimum depth: 3651.770936 meters looking forward 0.000000 meters along route # Maximum depth: 3651.770936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.770936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071928; longitude = -123.255331; captureRadius = 10; duration = 200; initialDepth = 3592.945425; finalDepth = 3601.770936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.770936 # Seafloor depth: -3651.770936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098468 meters # Minimum depth: 3642.945425 meters looking forward 0.000000 meters along route # Maximum depth: 3642.945425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3592.945425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072829; longitude = -123.255386; captureRadius = 10; duration = 200; initialDepth = 3592.142283; finalDepth = 3592.945425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.945425 # Seafloor depth: -3642.945425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098480 meters # Minimum depth: 3642.142283 meters looking forward 0.000000 meters along route # Maximum depth: 3642.142283 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3592.142283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073731; longitude = -123.255441; captureRadius = 10; duration = 200; initialDepth = 3591.392546; finalDepth = 3592.142283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.142283 # Seafloor depth: -3642.142283 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098492 meters # Minimum depth: 3641.392546 meters looking forward 0.000000 meters along route # Maximum depth: 3641.392546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3591.392546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074632; longitude = -123.255496; captureRadius = 10; duration = 200; initialDepth = 3577.605104; finalDepth = 3591.392546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3591.392546 # Seafloor depth: -3641.392546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098505 meters # Minimum depth: 3627.605104 meters looking forward 0.000000 meters along route # Maximum depth: 3627.605104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3577.605104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075533; longitude = -123.255551; captureRadius = 10; duration = 200; initialDepth = 3576.911576; finalDepth = 3577.605104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3577.605104 # Seafloor depth: -3627.605104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098517 meters # Minimum depth: 3626.911576 meters looking forward 0.000000 meters along route # Maximum depth: 3626.911576 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.911576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076435; longitude = -123.255606; captureRadius = 10; duration = 200; initialDepth = 3583.503566; finalDepth = 3576.911576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.911576 # Seafloor depth: -3626.911576 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098530 meters # Minimum depth: 3633.503566 meters looking forward 0.000000 meters along route # Maximum depth: 3633.503566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3583.503566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077336; longitude = -123.255662; captureRadius = 10; duration = 200; initialDepth = 3580.135331; finalDepth = 3583.503566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.503566 # Seafloor depth: -3633.503566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098543 meters # Minimum depth: 3630.135331 meters looking forward 0.000000 meters along route # Maximum depth: 3630.135331 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3580.135331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078238; longitude = -123.255717; captureRadius = 10; duration = 200; initialDepth = 3579.469294; finalDepth = 3580.135331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3580.135331 # Seafloor depth: -3630.135331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098555 meters # Minimum depth: 3629.469294 meters looking forward 0.000000 meters along route # Maximum depth: 3629.469294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.469294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079139; longitude = -123.255772; captureRadius = 10; duration = 200; initialDepth = 3578.620661; finalDepth = 3579.469294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.469294 # Seafloor depth: -3629.469294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098567 meters # Minimum depth: 3628.620661 meters looking forward 0.000000 meters along route # Maximum depth: 3628.620661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.620661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080040; longitude = -123.255827; captureRadius = 10; duration = 200; initialDepth = 3575.963807; finalDepth = 3578.620661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.620661 # Seafloor depth: -3628.620661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098580 meters # Minimum depth: 3625.963807 meters looking forward 0.000000 meters along route # Maximum depth: 3625.963807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.963807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080942; longitude = -123.255882; captureRadius = 10; duration = 200; initialDepth = 3572.092572; finalDepth = 3575.963807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.963807 # Seafloor depth: -3625.963807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098592 meters # Minimum depth: 3622.092572 meters looking forward 0.000000 meters along route # Maximum depth: 3622.092572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3572.092572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081843; longitude = -123.255937; captureRadius = 10; duration = 200; initialDepth = 3581.066832; finalDepth = 3572.092572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3572.092572 # Seafloor depth: -3622.092572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098605 meters # Minimum depth: 3631.066832 meters looking forward 0.000000 meters along route # Maximum depth: 3631.066832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3581.066832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082744; longitude = -123.255993; captureRadius = 10; duration = 200; initialDepth = 3578.044097; finalDepth = 3581.066832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.066832 # Seafloor depth: -3631.066832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.098618 meters # Minimum depth: 3628.044097 meters looking forward 0.000000 meters along route # Maximum depth: 3628.044097 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.044097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083646; longitude = -123.256048; captureRadius = 10; duration = 200; initialDepth = 3576.995012; finalDepth = 3578.044097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.044097 # Seafloor depth: -3628.044097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 114.606068 meters # Minimum depth: 3626.995012 meters looking forward 0.000000 meters along route # Maximum depth: 3626.995012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.995012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084547; longitude = -123.256103; captureRadius = 10; duration = 229; initialDepth = 3574.198914; finalDepth = 3576.995012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.995012 # Seafloor depth: -3626.995012 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 149.995281 meters # Minimum depth: 3624.198914 meters looking forward 0.000000 meters along route # Maximum depth: 3624.198914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.198914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085579; longitude = -123.256166; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3596.057129; finalDepth = 3574.198914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.198914 # Seafloor depth: -3624.198914 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 122.046464 meters # Minimum depth: 3646.057129 meters looking forward 0.000000 meters along route # Maximum depth: 3646.057129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3596.057129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085646; longitude = -123.254502; captureRadius = 10; duration = 244; # abortOnTimeout = True; initialDepth = 3597.746226; finalDepth = 3596.057129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.057129 # Seafloor depth: -3646.057129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098451 meters # Minimum depth: 3647.746226 meters looking forward 0.000000 meters along route # Maximum depth: 3647.746226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3597.746226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084547; longitude = -123.254435; captureRadius = 10; duration = 200; initialDepth = 3603.014707; finalDepth = 3597.746226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.746226 # Seafloor depth: -3647.746226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098439 meters # Minimum depth: 3653.014707 meters looking forward 0.000000 meters along route # Maximum depth: 3653.014707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.014707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083646; longitude = -123.254380; captureRadius = 10; duration = 200; initialDepth = 3606.980643; finalDepth = 3603.014707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.014707 # Seafloor depth: -3653.014707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098426 meters # Minimum depth: 3656.980643 meters looking forward 0.000000 meters along route # Maximum depth: 3656.980643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.980643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082744; longitude = -123.254325; captureRadius = 10; duration = 200; initialDepth = 3610.063732; finalDepth = 3606.980643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.980643 # Seafloor depth: -3656.980643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098414 meters # Minimum depth: 3660.063732 meters looking forward 0.000000 meters along route # Maximum depth: 3660.063732 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.063732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081843; longitude = -123.254269; captureRadius = 10; duration = 200; initialDepth = 3619.470881; finalDepth = 3610.063732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.063732 # Seafloor depth: -3660.063732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098401 meters # Minimum depth: 3669.470881 meters looking forward 0.000000 meters along route # Maximum depth: 3669.470881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.470881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080942; longitude = -123.254214; captureRadius = 10; duration = 200; initialDepth = 3623.024209; finalDepth = 3619.470881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3619.470881 # Seafloor depth: -3669.470881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098388 meters # Minimum depth: 3673.024209 meters looking forward 0.000000 meters along route # Maximum depth: 3673.024209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.024209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080040; longitude = -123.254159; captureRadius = 10; duration = 200; initialDepth = 3623.589087; finalDepth = 3623.024209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.024209 # Seafloor depth: -3673.024209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098376 meters # Minimum depth: 3673.589087 meters looking forward 0.000000 meters along route # Maximum depth: 3673.589087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.589087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079139; longitude = -123.254104; captureRadius = 10; duration = 200; initialDepth = 3621.365292; finalDepth = 3623.589087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.589087 # Seafloor depth: -3673.589087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098364 meters # Minimum depth: 3671.365292 meters looking forward 0.000000 meters along route # Maximum depth: 3671.365292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.365292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078238; longitude = -123.254049; captureRadius = 10; duration = 200; initialDepth = 3622.827569; finalDepth = 3621.365292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.365292 # Seafloor depth: -3671.365292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098351 meters # Minimum depth: 3672.827569 meters looking forward 0.000000 meters along route # Maximum depth: 3672.827569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.827569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077336; longitude = -123.253994; captureRadius = 10; duration = 200; initialDepth = 3620.652169; finalDepth = 3622.827569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.827569 # Seafloor depth: -3672.827569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098339 meters # Minimum depth: 3670.652169 meters looking forward 0.000000 meters along route # Maximum depth: 3670.652169 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.652169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076435; longitude = -123.253939; captureRadius = 10; duration = 200; initialDepth = 3619.345142; finalDepth = 3620.652169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.652169 # Seafloor depth: -3670.652169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098326 meters # Minimum depth: 3669.345142 meters looking forward 0.000000 meters along route # Maximum depth: 3669.345142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.345142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075533; longitude = -123.253883; captureRadius = 10; duration = 200; initialDepth = 3624.952204; finalDepth = 3619.345142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3619.345142 # Seafloor depth: -3669.345142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098313 meters # Minimum depth: 3674.952204 meters looking forward 0.000000 meters along route # Maximum depth: 3674.952204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.952204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074632; longitude = -123.253828; captureRadius = 10; duration = 200; initialDepth = 3624.934568; finalDepth = 3624.952204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.952204 # Seafloor depth: -3674.952204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098301 meters # Minimum depth: 3674.934568 meters looking forward 0.000000 meters along route # Maximum depth: 3674.934568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.934568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073731; longitude = -123.253773; captureRadius = 10; duration = 200; initialDepth = 3623.988895; finalDepth = 3624.934568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.934568 # Seafloor depth: -3674.934568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098289 meters # Minimum depth: 3673.988895 meters looking forward 0.000000 meters along route # Maximum depth: 3673.988895 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.988895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072829; longitude = -123.253718; captureRadius = 10; duration = 200; initialDepth = 3627.753901; finalDepth = 3623.988895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.988895 # Seafloor depth: -3673.988895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098276 meters # Minimum depth: 3677.753901 meters looking forward 0.000000 meters along route # Maximum depth: 3677.753901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.753901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071928; longitude = -123.253663; captureRadius = 10; duration = 200; initialDepth = 3629.853972; finalDepth = 3627.753901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.753901 # Seafloor depth: -3677.753901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098263 meters # Minimum depth: 3679.853972 meters looking forward 0.000000 meters along route # Maximum depth: 3679.853972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.853972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071027; longitude = -123.253608; captureRadius = 10; duration = 200; initialDepth = 3626.854309; finalDepth = 3629.853972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.853972 # Seafloor depth: -3679.853972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098251 meters # Minimum depth: 3676.854309 meters looking forward 0.000000 meters along route # Maximum depth: 3676.854309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.854309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070125; longitude = -123.253553; captureRadius = 10; duration = 200; initialDepth = 3627.640825; finalDepth = 3626.854309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.854309 # Seafloor depth: -3676.854309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098239 meters # Minimum depth: 3677.640825 meters looking forward 0.000000 meters along route # Maximum depth: 3677.640825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.640825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069224; longitude = -123.253498; captureRadius = 10; duration = 200; initialDepth = 3618.463594; finalDepth = 3627.640825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.640825 # Seafloor depth: -3677.640825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098226 meters # Minimum depth: 3668.463594 meters looking forward 0.000000 meters along route # Maximum depth: 3668.463594 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.463594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068323; longitude = -123.253442; captureRadius = 10; duration = 200; initialDepth = 3626.065650; finalDepth = 3618.463594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.463594 # Seafloor depth: -3668.463594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098213 meters # Minimum depth: 3676.065650 meters looking forward 0.000000 meters along route # Maximum depth: 3676.065650 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.065650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067421; longitude = -123.253387; captureRadius = 10; duration = 200; initialDepth = 3620.143657; finalDepth = 3626.065650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.06565 # Seafloor depth: -3676.065650 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098201 meters # Minimum depth: 3670.143657 meters looking forward 0.000000 meters along route # Maximum depth: 3670.143657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.143657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066520; longitude = -123.253332; captureRadius = 10; duration = 200; initialDepth = 3626.926525; finalDepth = 3620.143657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.143657 # Seafloor depth: -3670.143657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098189 meters # Minimum depth: 3676.926525 meters looking forward 0.000000 meters along route # Maximum depth: 3676.926525 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.926525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065619; longitude = -123.253277; captureRadius = 10; duration = 200; initialDepth = 3621.328486; finalDepth = 3626.926525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.926525 # Seafloor depth: -3676.926525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098176 meters # Minimum depth: 3671.328486 meters looking forward 0.000000 meters along route # Maximum depth: 3671.328486 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.328486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064717; longitude = -123.253222; captureRadius = 10; duration = 200; initialDepth = 3628.951107; finalDepth = 3621.328486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.328486 # Seafloor depth: -3671.328486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098163 meters # Minimum depth: 3678.951107 meters looking forward 0.000000 meters along route # Maximum depth: 3678.951107 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.951107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063816; longitude = -123.253167; captureRadius = 10; duration = 200; initialDepth = 3623.628640; finalDepth = 3628.951107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.951107 # Seafloor depth: -3678.951107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098151 meters # Minimum depth: 3673.628640 meters looking forward 0.000000 meters along route # Maximum depth: 3673.628640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.628640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062915; longitude = -123.253112; captureRadius = 10; duration = 200; initialDepth = 3594.576448; finalDepth = 3623.628640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.62864 # Seafloor depth: -3673.628640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.098139 meters # Minimum depth: 3644.576448 meters looking forward 0.000000 meters along route # Maximum depth: 3644.576448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3594.576448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062013; longitude = -123.253057; captureRadius = 10; duration = 200; initialDepth = 3577.649711; finalDepth = 3594.576448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.576448 # Seafloor depth: -3644.576448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 107.813228 meters # Minimum depth: 3627.649711 meters looking forward 0.000000 meters along route # Maximum depth: 3627.649711 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3577.649711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061112; longitude = -123.253001; captureRadius = 10; duration = 215; initialDepth = 3561.405701; finalDepth = 3577.649711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3577.649711 # Seafloor depth: -3627.649711 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 150.043445 meters # Minimum depth: 3611.405701 meters looking forward 0.000000 meters along route # Maximum depth: 3611.405701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3561.405701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060141; longitude = -123.252942; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3620.260376; finalDepth = 3561.405701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3561.405701 # Seafloor depth: -3611.405701 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 125.397191 meters # Minimum depth: 3670.260376 meters looking forward 0.000000 meters along route # Maximum depth: 3670.260376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.260376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060208; longitude = -123.251278; captureRadius = 10; duration = 250; # abortOnTimeout = True; initialDepth = 3625.265174; finalDepth = 3620.260376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.260376 # Seafloor depth: -3670.260376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098133 meters # Minimum depth: 3675.265174 meters looking forward 0.000000 meters along route # Maximum depth: 3675.265174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.265174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061337; longitude = -123.251347; captureRadius = 10; duration = 200; initialDepth = 3629.041447; finalDepth = 3625.265174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.265174 # Seafloor depth: -3675.265174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098146 meters # Minimum depth: 3679.041447 meters looking forward 0.000000 meters along route # Maximum depth: 3679.041447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.041447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062239; longitude = -123.251402; captureRadius = 10; duration = 200; initialDepth = 3633.392568; finalDepth = 3629.041447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.041447 # Seafloor depth: -3679.041447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098158 meters # Minimum depth: 3683.392568 meters looking forward 0.000000 meters along route # Maximum depth: 3683.392568 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.392568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063140; longitude = -123.251457; captureRadius = 10; duration = 200; initialDepth = 3632.408446; finalDepth = 3633.392568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.392568 # Seafloor depth: -3683.392568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098171 meters # Minimum depth: 3682.408446 meters looking forward 0.000000 meters along route # Maximum depth: 3682.408446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.408446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064041; longitude = -123.251512; captureRadius = 10; duration = 200; initialDepth = 3631.436192; finalDepth = 3632.408446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.408446 # Seafloor depth: -3682.408446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098183 meters # Minimum depth: 3681.436192 meters looking forward 0.000000 meters along route # Maximum depth: 3681.436192 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.436192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064943; longitude = -123.251568; captureRadius = 10; duration = 200; initialDepth = 3633.112238; finalDepth = 3631.436192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.436192 # Seafloor depth: -3681.436192 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098196 meters # Minimum depth: 3683.112238 meters looking forward 0.000000 meters along route # Maximum depth: 3683.112238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.112238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065844; longitude = -123.251623; captureRadius = 10; duration = 200; initialDepth = 3632.072226; finalDepth = 3633.112238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.112238 # Seafloor depth: -3683.112238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098208 meters # Minimum depth: 3682.072226 meters looking forward 0.000000 meters along route # Maximum depth: 3682.072226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.072226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066745; longitude = -123.251678; captureRadius = 10; duration = 200; initialDepth = 3632.061849; finalDepth = 3632.072226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.072226 # Seafloor depth: -3682.072226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098221 meters # Minimum depth: 3682.061849 meters looking forward 0.000000 meters along route # Maximum depth: 3682.061849 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.061849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067647; longitude = -123.251733; captureRadius = 10; duration = 200; initialDepth = 3632.077918; finalDepth = 3632.061849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.061849 # Seafloor depth: -3682.061849 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098233 meters # Minimum depth: 3682.077918 meters looking forward 0.000000 meters along route # Maximum depth: 3682.077918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.077918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068548; longitude = -123.251788; captureRadius = 10; duration = 200; initialDepth = 3633.322499; finalDepth = 3632.077918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.077918 # Seafloor depth: -3682.077918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098246 meters # Minimum depth: 3683.322499 meters looking forward 0.000000 meters along route # Maximum depth: 3683.322499 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.322499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069449; longitude = -123.251843; captureRadius = 10; duration = 200; initialDepth = 3634.153270; finalDepth = 3633.322499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.322499 # Seafloor depth: -3683.322499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098258 meters # Minimum depth: 3684.153270 meters looking forward 0.000000 meters along route # Maximum depth: 3684.153270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.153270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070351; longitude = -123.251898; captureRadius = 10; duration = 200; initialDepth = 3634.305665; finalDepth = 3634.153270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.15327 # Seafloor depth: -3684.153270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098270 meters # Minimum depth: 3684.305665 meters looking forward 0.000000 meters along route # Maximum depth: 3684.305665 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.305665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071252; longitude = -123.251954; captureRadius = 10; duration = 200; initialDepth = 3633.265905; finalDepth = 3634.305665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.305665 # Seafloor depth: -3684.305665 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098284 meters # Minimum depth: 3683.265905 meters looking forward 0.000000 meters along route # Maximum depth: 3683.265905 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.265905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072153; longitude = -123.252009; captureRadius = 10; duration = 200; initialDepth = 3633.528782; finalDepth = 3633.265905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.265905 # Seafloor depth: -3683.265905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098295 meters # Minimum depth: 3683.528782 meters looking forward 0.000000 meters along route # Maximum depth: 3683.528782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.528782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073055; longitude = -123.252064; captureRadius = 10; duration = 200; initialDepth = 3633.987341; finalDepth = 3633.528782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.528782 # Seafloor depth: -3683.528782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098309 meters # Minimum depth: 3683.987341 meters looking forward 0.000000 meters along route # Maximum depth: 3683.987341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.987341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073956; longitude = -123.252119; captureRadius = 10; duration = 200; initialDepth = 3633.543386; finalDepth = 3633.987341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.987341 # Seafloor depth: -3683.987341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098320 meters # Minimum depth: 3683.543386 meters looking forward 0.000000 meters along route # Maximum depth: 3683.543386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.543386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074857; longitude = -123.252174; captureRadius = 10; duration = 200; initialDepth = 3634.410054; finalDepth = 3633.543386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.543386 # Seafloor depth: -3683.543386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098334 meters # Minimum depth: 3684.410054 meters looking forward 0.000000 meters along route # Maximum depth: 3684.410054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.410054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075759; longitude = -123.252229; captureRadius = 10; duration = 200; initialDepth = 3634.247566; finalDepth = 3634.410054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.410054 # Seafloor depth: -3684.410054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098345 meters # Minimum depth: 3684.247566 meters looking forward 0.000000 meters along route # Maximum depth: 3684.247566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.247566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076660; longitude = -123.252284; captureRadius = 10; duration = 200; initialDepth = 3631.001309; finalDepth = 3634.247566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.247566 # Seafloor depth: -3684.247566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098358 meters # Minimum depth: 3681.001309 meters looking forward 0.000000 meters along route # Maximum depth: 3681.001309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.001309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077562; longitude = -123.252339; captureRadius = 10; duration = 200; initialDepth = 3629.511544; finalDepth = 3631.001309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.001309 # Seafloor depth: -3681.001309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098371 meters # Minimum depth: 3679.511544 meters looking forward 0.000000 meters along route # Maximum depth: 3679.511544 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.511544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078463; longitude = -123.252395; captureRadius = 10; duration = 200; initialDepth = 3631.007960; finalDepth = 3629.511544; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.511544 # Seafloor depth: -3679.511544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098383 meters # Minimum depth: 3681.007960 meters looking forward 0.000000 meters along route # Maximum depth: 3681.007960 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.007960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079364; longitude = -123.252450; captureRadius = 10; duration = 200; initialDepth = 3626.624776; finalDepth = 3631.007960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.00796 # Seafloor depth: -3681.007960 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098396 meters # Minimum depth: 3676.624776 meters looking forward 0.000000 meters along route # Maximum depth: 3676.624776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.624776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080266; longitude = -123.252505; captureRadius = 10; duration = 200; initialDepth = 3626.747176; finalDepth = 3626.624776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.624776 # Seafloor depth: -3676.624776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098408 meters # Minimum depth: 3676.747176 meters looking forward 0.000000 meters along route # Maximum depth: 3676.747176 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.747176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081167; longitude = -123.252560; captureRadius = 10; duration = 200; initialDepth = 3625.241927; finalDepth = 3626.747176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.747176 # Seafloor depth: -3676.747176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098421 meters # Minimum depth: 3675.241927 meters looking forward 0.000000 meters along route # Maximum depth: 3675.241927 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.241927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082068; longitude = -123.252615; captureRadius = 10; duration = 200; initialDepth = 3622.821879; finalDepth = 3625.241927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.241927 # Seafloor depth: -3675.241927 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098434 meters # Minimum depth: 3672.821879 meters looking forward 0.000000 meters along route # Maximum depth: 3672.821879 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.821879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082970; longitude = -123.252670; captureRadius = 10; duration = 200; initialDepth = 3623.417788; finalDepth = 3622.821879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.821879 # Seafloor depth: -3672.821879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.098445 meters # Minimum depth: 3673.417788 meters looking forward 0.000000 meters along route # Maximum depth: 3673.417788 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.417788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083871; longitude = -123.252725; captureRadius = 10; duration = 200; initialDepth = 3619.244251; finalDepth = 3623.417788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.417788 # Seafloor depth: -3673.417788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 104.462428 meters # Minimum depth: 3669.244251 meters looking forward 0.000000 meters along route # Maximum depth: 3669.244251 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.244251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084772; longitude = -123.252780; captureRadius = 10; duration = 208; initialDepth = 3618.493164; finalDepth = 3619.244251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3619.244251 # Seafloor depth: -3669.244251 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 149.995002 meters # Minimum depth: 3668.493164 meters looking forward 0.000000 meters along route # Maximum depth: 3668.493164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.493164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085713; longitude = -123.252838; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3623.428406; finalDepth = 3618.493164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.493164 # Seafloor depth: -3668.493164 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 111.902828 meters # Minimum depth: 3673.428406 meters looking forward 0.000000 meters along route # Maximum depth: 3673.428406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.428406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085780; longitude = -123.251174; captureRadius = 10; duration = 223; # abortOnTimeout = True; initialDepth = 3622.645270; finalDepth = 3623.428406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.428406 # Seafloor depth: -3673.428406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098279 meters # Minimum depth: 3672.645270 meters looking forward 0.000000 meters along route # Maximum depth: 3672.645270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.645270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084772; longitude = -123.251112; captureRadius = 10; duration = 200; initialDepth = 3625.917582; finalDepth = 3622.645270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.64527 # Seafloor depth: -3672.645270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098268 meters # Minimum depth: 3675.917582 meters looking forward 0.000000 meters along route # Maximum depth: 3675.917582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.917582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083871; longitude = -123.251057; captureRadius = 10; duration = 200; initialDepth = 3622.897632; finalDepth = 3625.917582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.917582 # Seafloor depth: -3675.917582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098254 meters # Minimum depth: 3672.897632 meters looking forward 0.000000 meters along route # Maximum depth: 3672.897632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.897632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082970; longitude = -123.251002; captureRadius = 10; duration = 200; initialDepth = 3627.109662; finalDepth = 3622.897632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.897632 # Seafloor depth: -3672.897632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098242 meters # Minimum depth: 3677.109662 meters looking forward 0.000000 meters along route # Maximum depth: 3677.109662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.109662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082068; longitude = -123.250947; captureRadius = 10; duration = 200; initialDepth = 3627.747956; finalDepth = 3627.109662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.109662 # Seafloor depth: -3677.109662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098230 meters # Minimum depth: 3677.747956 meters looking forward 0.000000 meters along route # Maximum depth: 3677.747956 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.747956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081167; longitude = -123.250892; captureRadius = 10; duration = 200; initialDepth = 3628.185011; finalDepth = 3627.747956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.747956 # Seafloor depth: -3677.747956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098217 meters # Minimum depth: 3678.185011 meters looking forward 0.000000 meters along route # Maximum depth: 3678.185011 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.185011 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080266; longitude = -123.250837; captureRadius = 10; duration = 200; initialDepth = 3629.268648; finalDepth = 3628.185011; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.185011 # Seafloor depth: -3678.185011 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098205 meters # Minimum depth: 3679.268648 meters looking forward 0.000000 meters along route # Maximum depth: 3679.268648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.268648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079364; longitude = -123.250782; captureRadius = 10; duration = 200; initialDepth = 3629.946066; finalDepth = 3629.268648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.268648 # Seafloor depth: -3679.268648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098192 meters # Minimum depth: 3679.946066 meters looking forward 0.000000 meters along route # Maximum depth: 3679.946066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.946066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078463; longitude = -123.250727; captureRadius = 10; duration = 200; initialDepth = 3629.885538; finalDepth = 3629.946066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.946066 # Seafloor depth: -3679.946066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098179 meters # Minimum depth: 3679.885538 meters looking forward 0.000000 meters along route # Maximum depth: 3679.885538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.885538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077562; longitude = -123.250672; captureRadius = 10; duration = 200; initialDepth = 3625.807039; finalDepth = 3629.885538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.885538 # Seafloor depth: -3679.885538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098167 meters # Minimum depth: 3675.807039 meters looking forward 0.000000 meters along route # Maximum depth: 3675.807039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.807039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076660; longitude = -123.250617; captureRadius = 10; duration = 200; initialDepth = 3624.966075; finalDepth = 3625.807039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.807039 # Seafloor depth: -3675.807039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098155 meters # Minimum depth: 3674.966075 meters looking forward 0.000000 meters along route # Maximum depth: 3674.966075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.966075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075759; longitude = -123.250561; captureRadius = 10; duration = 200; initialDepth = 3625.581518; finalDepth = 3624.966075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.966075 # Seafloor depth: -3674.966075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098142 meters # Minimum depth: 3675.581518 meters looking forward 0.000000 meters along route # Maximum depth: 3675.581518 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.581518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074857; longitude = -123.250506; captureRadius = 10; duration = 200; initialDepth = 3626.894037; finalDepth = 3625.581518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.581518 # Seafloor depth: -3675.581518 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098130 meters # Minimum depth: 3676.894037 meters looking forward 0.000000 meters along route # Maximum depth: 3676.894037 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.894037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073956; longitude = -123.250451; captureRadius = 10; duration = 200; initialDepth = 3625.018403; finalDepth = 3626.894037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.894037 # Seafloor depth: -3676.894037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098117 meters # Minimum depth: 3675.018403 meters looking forward 0.000000 meters along route # Maximum depth: 3675.018403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.018403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073055; longitude = -123.250396; captureRadius = 10; duration = 200; initialDepth = 3624.847629; finalDepth = 3625.018403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.018403 # Seafloor depth: -3675.018403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098104 meters # Minimum depth: 3674.847629 meters looking forward 0.000000 meters along route # Maximum depth: 3674.847629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.847629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072153; longitude = -123.250341; captureRadius = 10; duration = 200; initialDepth = 3625.816296; finalDepth = 3624.847629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.847629 # Seafloor depth: -3674.847629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098092 meters # Minimum depth: 3675.816296 meters looking forward 0.000000 meters along route # Maximum depth: 3675.816296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.816296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071252; longitude = -123.250286; captureRadius = 10; duration = 200; initialDepth = 3625.460640; finalDepth = 3625.816296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.816296 # Seafloor depth: -3675.816296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098080 meters # Minimum depth: 3675.460640 meters looking forward 0.000000 meters along route # Maximum depth: 3675.460640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.460640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070351; longitude = -123.250231; captureRadius = 10; duration = 200; initialDepth = 3626.803731; finalDepth = 3625.460640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.46064 # Seafloor depth: -3675.460640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098067 meters # Minimum depth: 3676.803731 meters looking forward 0.000000 meters along route # Maximum depth: 3676.803731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.803731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069449; longitude = -123.250176; captureRadius = 10; duration = 200; initialDepth = 3625.870962; finalDepth = 3626.803731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.803731 # Seafloor depth: -3676.803731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098054 meters # Minimum depth: 3675.870962 meters looking forward 0.000000 meters along route # Maximum depth: 3675.870962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3625.870962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068548; longitude = -123.250121; captureRadius = 10; duration = 200; initialDepth = 3624.859372; finalDepth = 3625.870962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.870962 # Seafloor depth: -3675.870962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098042 meters # Minimum depth: 3674.859372 meters looking forward 0.000000 meters along route # Maximum depth: 3674.859372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.859372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067647; longitude = -123.250066; captureRadius = 10; duration = 200; initialDepth = 3624.335464; finalDepth = 3624.859372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.859372 # Seafloor depth: -3674.859372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098030 meters # Minimum depth: 3674.335464 meters looking forward 0.000000 meters along route # Maximum depth: 3674.335464 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3624.335464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066745; longitude = -123.250010; captureRadius = 10; duration = 200; initialDepth = 3626.495680; finalDepth = 3624.335464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3624.335464 # Seafloor depth: -3674.335464 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098017 meters # Minimum depth: 3676.495680 meters looking forward 0.000000 meters along route # Maximum depth: 3676.495680 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.495680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065844; longitude = -123.249955; captureRadius = 10; duration = 200; initialDepth = 3627.206400; finalDepth = 3626.495680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.49568 # Seafloor depth: -3676.495680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.098005 meters # Minimum depth: 3677.206400 meters looking forward 0.000000 meters along route # Maximum depth: 3677.206400 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.206400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064943; longitude = -123.249900; captureRadius = 10; duration = 200; initialDepth = 3628.632933; finalDepth = 3627.206400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.2064 # Seafloor depth: -3677.206400 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.097992 meters # Minimum depth: 3678.632933 meters looking forward 0.000000 meters along route # Maximum depth: 3678.632933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.632933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064041; longitude = -123.249845; captureRadius = 10; duration = 200; initialDepth = 3630.327828; finalDepth = 3628.632933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.632933 # Seafloor depth: -3678.632933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.097979 meters # Minimum depth: 3680.327828 meters looking forward 0.000000 meters along route # Maximum depth: 3680.327828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3630.327828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063140; longitude = -123.249790; captureRadius = 10; duration = 200; initialDepth = 3631.712923; finalDepth = 3630.327828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.327828 # Seafloor depth: -3680.327828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.097967 meters # Minimum depth: 3681.712923 meters looking forward 0.000000 meters along route # Maximum depth: 3681.712923 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.712923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062239; longitude = -123.249735; captureRadius = 10; duration = 200; initialDepth = 3633.816084; finalDepth = 3631.712923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.712923 # Seafloor depth: -3681.712923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 117.956435 meters # Minimum depth: 3683.816084 meters looking forward 0.000000 meters along route # Maximum depth: 3683.816084 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3633.816084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061337; longitude = -123.249680; captureRadius = 10; duration = 235; initialDepth = 3632.464661; finalDepth = 3633.816084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3633.816084 # Seafloor depth: -3683.816084 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 150.043167 meters # Minimum depth: 3682.464661 meters looking forward 0.000000 meters along route # Maximum depth: 3682.464661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3632.464661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060275; longitude = -123.249615; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3622.304138; finalDepth = 3632.464661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.464661 # Seafloor depth: -3682.464661 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 110.515878 meters # Minimum depth: 3672.304138 meters looking forward 0.000000 meters along route # Maximum depth: 3672.304138 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3622.304138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060342; longitude = -123.247951; captureRadius = 10; duration = 221; # abortOnTimeout = True; initialDepth = 3619.878513; finalDepth = 3622.304138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3622.304138 # Seafloor depth: -3672.304138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.097959 meters # Minimum depth: 3669.878513 meters looking forward 0.000000 meters along route # Maximum depth: 3669.878513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.878513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061337; longitude = -123.248012; captureRadius = 10; duration = 200; initialDepth = 3615.300899; finalDepth = 3619.878513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3619.878513 # Seafloor depth: -3669.878513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.097971 meters # Minimum depth: 3665.300899 meters looking forward 0.000000 meters along route # Maximum depth: 3665.300899 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.300899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062239; longitude = -123.248067; captureRadius = 10; duration = 200; initialDepth = 3615.441395; finalDepth = 3615.300899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.300899 # Seafloor depth: -3665.300899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.097984 meters # Minimum depth: 3665.441395 meters looking forward 0.000000 meters along route # Maximum depth: 3665.441395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.441395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063140; longitude = -123.248122; captureRadius = 10; duration = 200; initialDepth = 3611.546307; finalDepth = 3615.441395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.441395 # Seafloor depth: -3665.441395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.097996 meters # Minimum depth: 3661.546307 meters looking forward 0.000000 meters along route # Maximum depth: 3661.546307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3611.546307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064041; longitude = -123.248177; captureRadius = 10; duration = 200; initialDepth = 3608.824195; finalDepth = 3611.546307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.546307 # Seafloor depth: -3661.546307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098008 meters # Minimum depth: 3658.824195 meters looking forward 0.000000 meters along route # Maximum depth: 3658.824195 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3608.824195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064943; longitude = -123.248232; captureRadius = 10; duration = 200; initialDepth = 3612.461811; finalDepth = 3608.824195; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3608.824195 # Seafloor depth: -3658.824195 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098022 meters # Minimum depth: 3662.461811 meters looking forward 0.000000 meters along route # Maximum depth: 3662.461811 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.461811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065844; longitude = -123.248287; captureRadius = 10; duration = 200; initialDepth = 3610.230747; finalDepth = 3612.461811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.461811 # Seafloor depth: -3662.461811 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098033 meters # Minimum depth: 3660.230747 meters looking forward 0.000000 meters along route # Maximum depth: 3660.230747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.230747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066745; longitude = -123.248342; captureRadius = 10; duration = 200; initialDepth = 3613.147336; finalDepth = 3610.230747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.230747 # Seafloor depth: -3660.230747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098047 meters # Minimum depth: 3663.147336 meters looking forward 0.000000 meters along route # Maximum depth: 3663.147336 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.147336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067647; longitude = -123.248397; captureRadius = 10; duration = 200; initialDepth = 3616.328666; finalDepth = 3613.147336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3613.147336 # Seafloor depth: -3663.147336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098058 meters # Minimum depth: 3666.328666 meters looking forward 0.000000 meters along route # Maximum depth: 3666.328666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3616.328666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068548; longitude = -123.248453; captureRadius = 10; duration = 200; initialDepth = 3615.515920; finalDepth = 3616.328666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3616.328666 # Seafloor depth: -3666.328666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098072 meters # Minimum depth: 3665.515920 meters looking forward 0.000000 meters along route # Maximum depth: 3665.515920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.515920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069449; longitude = -123.248508; captureRadius = 10; duration = 200; initialDepth = 3614.461153; finalDepth = 3615.515920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.51592 # Seafloor depth: -3665.515920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098083 meters # Minimum depth: 3664.461153 meters looking forward 0.000000 meters along route # Maximum depth: 3664.461153 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.461153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070351; longitude = -123.248563; captureRadius = 10; duration = 200; initialDepth = 3613.689098; finalDepth = 3614.461153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3614.461153 # Seafloor depth: -3664.461153 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098097 meters # Minimum depth: 3663.689098 meters looking forward 0.000000 meters along route # Maximum depth: 3663.689098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.689098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071252; longitude = -123.248618; captureRadius = 10; duration = 200; initialDepth = 3612.432516; finalDepth = 3613.689098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3613.689098 # Seafloor depth: -3663.689098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098108 meters # Minimum depth: 3662.432516 meters looking forward 0.000000 meters along route # Maximum depth: 3662.432516 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.432516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072153; longitude = -123.248673; captureRadius = 10; duration = 200; initialDepth = 3614.625661; finalDepth = 3612.432516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.432516 # Seafloor depth: -3662.432516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098121 meters # Minimum depth: 3664.625661 meters looking forward 0.000000 meters along route # Maximum depth: 3664.625661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.625661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073055; longitude = -123.248728; captureRadius = 10; duration = 200; initialDepth = 3615.673932; finalDepth = 3614.625661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3614.625661 # Seafloor depth: -3664.625661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098134 meters # Minimum depth: 3665.673932 meters looking forward 0.000000 meters along route # Maximum depth: 3665.673932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.673932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073956; longitude = -123.248783; captureRadius = 10; duration = 200; initialDepth = 3618.174342; finalDepth = 3615.673932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.673932 # Seafloor depth: -3665.673932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098146 meters # Minimum depth: 3668.174342 meters looking forward 0.000000 meters along route # Maximum depth: 3668.174342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.174342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074857; longitude = -123.248838; captureRadius = 10; duration = 200; initialDepth = 3616.209243; finalDepth = 3618.174342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.174342 # Seafloor depth: -3668.174342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098159 meters # Minimum depth: 3666.209243 meters looking forward 0.000000 meters along route # Maximum depth: 3666.209243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3616.209243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075759; longitude = -123.248893; captureRadius = 10; duration = 200; initialDepth = 3615.386220; finalDepth = 3616.209243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3616.209243 # Seafloor depth: -3666.209243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098171 meters # Minimum depth: 3665.386220 meters looking forward 0.000000 meters along route # Maximum depth: 3665.386220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3615.386220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076660; longitude = -123.248948; captureRadius = 10; duration = 200; initialDepth = 3618.112029; finalDepth = 3615.386220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.38622 # Seafloor depth: -3665.386220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098184 meters # Minimum depth: 3668.112029 meters looking forward 0.000000 meters along route # Maximum depth: 3668.112029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.112029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077562; longitude = -123.249004; captureRadius = 10; duration = 200; initialDepth = 3618.505829; finalDepth = 3618.112029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.112029 # Seafloor depth: -3668.112029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098197 meters # Minimum depth: 3668.505829 meters looking forward 0.000000 meters along route # Maximum depth: 3668.505829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.505829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078463; longitude = -123.249059; captureRadius = 10; duration = 200; initialDepth = 3619.354465; finalDepth = 3618.505829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.505829 # Seafloor depth: -3668.505829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098208 meters # Minimum depth: 3669.354465 meters looking forward 0.000000 meters along route # Maximum depth: 3669.354465 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.354465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079364; longitude = -123.249114; captureRadius = 10; duration = 200; initialDepth = 3620.098424; finalDepth = 3619.354465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3619.354465 # Seafloor depth: -3669.354465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098222 meters # Minimum depth: 3670.098424 meters looking forward 0.000000 meters along route # Maximum depth: 3670.098424 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.098424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080266; longitude = -123.249169; captureRadius = 10; duration = 200; initialDepth = 3623.455792; finalDepth = 3620.098424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.098424 # Seafloor depth: -3670.098424 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098233 meters # Minimum depth: 3673.455792 meters looking forward 0.000000 meters along route # Maximum depth: 3673.455792 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3623.455792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081167; longitude = -123.249224; captureRadius = 10; duration = 200; initialDepth = 3627.253918; finalDepth = 3623.455792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.455792 # Seafloor depth: -3673.455792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098247 meters # Minimum depth: 3677.253918 meters looking forward 0.000000 meters along route # Maximum depth: 3677.253918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.253918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082068; longitude = -123.249279; captureRadius = 10; duration = 200; initialDepth = 3629.394750; finalDepth = 3627.253918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.253918 # Seafloor depth: -3677.253918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098258 meters # Minimum depth: 3679.394750 meters looking forward 0.000000 meters along route # Maximum depth: 3679.394750 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.394750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082970; longitude = -123.249334; captureRadius = 10; duration = 200; initialDepth = 3627.708975; finalDepth = 3629.394750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.39475 # Seafloor depth: -3679.394750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.098272 meters # Minimum depth: 3677.708975 meters looking forward 0.000000 meters along route # Maximum depth: 3677.708975 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.708975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083871; longitude = -123.249389; captureRadius = 10; duration = 200; initialDepth = 3626.246222; finalDepth = 3627.708975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.708975 # Seafloor depth: -3677.708975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 119.343392 meters # Minimum depth: 3676.246222 meters looking forward 0.000000 meters along route # Maximum depth: 3676.246222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.246222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084772; longitude = -123.249444; captureRadius = 10; duration = 238; initialDepth = 3631.183044; finalDepth = 3626.246222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.246222 # Seafloor depth: -3676.246222 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 149.994723 meters # Minimum depth: 3681.183044 meters looking forward 0.000000 meters along route # Maximum depth: 3681.183044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.183044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085847; longitude = -123.249510; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3609.671692; finalDepth = 3631.183044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.183044 # Seafloor depth: -3681.183044 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 126.783755 meters # Minimum depth: 3659.671692 meters looking forward 0.000000 meters along route # Maximum depth: 3659.671692 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3609.671692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085914; longitude = -123.247846; captureRadius = 10; duration = 253; # abortOnTimeout = True; initialDepth = 3611.245798; finalDepth = 3609.671692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.671692 # Seafloor depth: -3659.671692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098105 meters # Minimum depth: 3661.245798 meters looking forward 0.000000 meters along route # Maximum depth: 3661.245798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3611.245798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084772; longitude = -123.247776; captureRadius = 10; duration = 200; initialDepth = 3613.292010; finalDepth = 3611.245798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.245798 # Seafloor depth: -3661.245798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098093 meters # Minimum depth: 3663.292010 meters looking forward 0.000000 meters along route # Maximum depth: 3663.292010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.292010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083871; longitude = -123.247721; captureRadius = 10; duration = 200; initialDepth = 3608.408075; finalDepth = 3613.292010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3613.29201 # Seafloor depth: -3663.292010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098081 meters # Minimum depth: 3658.408075 meters looking forward 0.000000 meters along route # Maximum depth: 3658.408075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3608.408075 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082970; longitude = -123.247666; captureRadius = 10; duration = 200; initialDepth = 3604.295531; finalDepth = 3608.408075; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3608.408075 # Seafloor depth: -3658.408075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098067 meters # Minimum depth: 3654.295531 meters looking forward 0.000000 meters along route # Maximum depth: 3654.295531 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.295531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082068; longitude = -123.247611; captureRadius = 10; duration = 200; initialDepth = 3604.227118; finalDepth = 3604.295531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.295531 # Seafloor depth: -3654.295531 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098056 meters # Minimum depth: 3654.227118 meters looking forward 0.000000 meters along route # Maximum depth: 3654.227118 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.227118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081167; longitude = -123.247556; captureRadius = 10; duration = 200; initialDepth = 3603.900600; finalDepth = 3604.227118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.227118 # Seafloor depth: -3654.227118 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098043 meters # Minimum depth: 3653.900600 meters looking forward 0.000000 meters along route # Maximum depth: 3653.900600 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.900600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080266; longitude = -123.247501; captureRadius = 10; duration = 200; initialDepth = 3604.090726; finalDepth = 3603.900600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.9006 # Seafloor depth: -3653.900600 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098030 meters # Minimum depth: 3654.090726 meters looking forward 0.000000 meters along route # Maximum depth: 3654.090726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.090726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079364; longitude = -123.247446; captureRadius = 10; duration = 200; initialDepth = 3604.504921; finalDepth = 3604.090726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.090726 # Seafloor depth: -3654.090726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098018 meters # Minimum depth: 3654.504921 meters looking forward 0.000000 meters along route # Maximum depth: 3654.504921 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.504921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078463; longitude = -123.247391; captureRadius = 10; duration = 200; initialDepth = 3607.829621; finalDepth = 3604.504921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.504921 # Seafloor depth: -3654.504921 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.098005 meters # Minimum depth: 3657.829621 meters looking forward 0.000000 meters along route # Maximum depth: 3657.829621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3607.829621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077562; longitude = -123.247336; captureRadius = 10; duration = 200; initialDepth = 3606.513794; finalDepth = 3607.829621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.829621 # Seafloor depth: -3657.829621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097993 meters # Minimum depth: 3656.513794 meters looking forward 0.000000 meters along route # Maximum depth: 3656.513794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.513794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076660; longitude = -123.247281; captureRadius = 10; duration = 200; initialDepth = 3603.104430; finalDepth = 3606.513794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.513794 # Seafloor depth: -3656.513794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097980 meters # Minimum depth: 3653.104430 meters looking forward 0.000000 meters along route # Maximum depth: 3653.104430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.104430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075759; longitude = -123.247226; captureRadius = 10; duration = 200; initialDepth = 3605.598887; finalDepth = 3603.104430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.10443 # Seafloor depth: -3653.104430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097968 meters # Minimum depth: 3655.598887 meters looking forward 0.000000 meters along route # Maximum depth: 3655.598887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.598887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074857; longitude = -123.247171; captureRadius = 10; duration = 200; initialDepth = 3606.654484; finalDepth = 3605.598887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.598887 # Seafloor depth: -3655.598887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097955 meters # Minimum depth: 3656.654484 meters looking forward 0.000000 meters along route # Maximum depth: 3656.654484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.654484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073956; longitude = -123.247116; captureRadius = 10; duration = 200; initialDepth = 3604.664875; finalDepth = 3606.654484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.654484 # Seafloor depth: -3656.654484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097943 meters # Minimum depth: 3654.664875 meters looking forward 0.000000 meters along route # Maximum depth: 3654.664875 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.664875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073055; longitude = -123.247060; captureRadius = 10; duration = 200; initialDepth = 3606.348595; finalDepth = 3604.664875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.664875 # Seafloor depth: -3654.664875 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097930 meters # Minimum depth: 3656.348595 meters looking forward 0.000000 meters along route # Maximum depth: 3656.348595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.348595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072153; longitude = -123.247005; captureRadius = 10; duration = 200; initialDepth = 3606.149295; finalDepth = 3606.348595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.348595 # Seafloor depth: -3656.348595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097918 meters # Minimum depth: 3656.149295 meters looking forward 0.000000 meters along route # Maximum depth: 3656.149295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.149295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071252; longitude = -123.246950; captureRadius = 10; duration = 200; initialDepth = 3612.398991; finalDepth = 3606.149295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.149295 # Seafloor depth: -3656.149295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097905 meters # Minimum depth: 3662.398991 meters looking forward 0.000000 meters along route # Maximum depth: 3662.398991 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.398991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070351; longitude = -123.246895; captureRadius = 10; duration = 200; initialDepth = 3613.772490; finalDepth = 3612.398991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.398991 # Seafloor depth: -3662.398991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097893 meters # Minimum depth: 3663.772490 meters looking forward 0.000000 meters along route # Maximum depth: 3663.772490 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3613.772490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069449; longitude = -123.246840; captureRadius = 10; duration = 200; initialDepth = 3610.877635; finalDepth = 3613.772490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3613.77249 # Seafloor depth: -3663.772490 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097881 meters # Minimum depth: 3660.877635 meters looking forward 0.000000 meters along route # Maximum depth: 3660.877635 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.877635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068548; longitude = -123.246785; captureRadius = 10; duration = 200; initialDepth = 3610.144031; finalDepth = 3610.877635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.877635 # Seafloor depth: -3660.877635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097867 meters # Minimum depth: 3660.144031 meters looking forward 0.000000 meters along route # Maximum depth: 3660.144031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.144031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067647; longitude = -123.246730; captureRadius = 10; duration = 200; initialDepth = 3614.383432; finalDepth = 3610.144031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.144031 # Seafloor depth: -3660.144031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097856 meters # Minimum depth: 3664.383432 meters looking forward 0.000000 meters along route # Maximum depth: 3664.383432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3614.383432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066745; longitude = -123.246675; captureRadius = 10; duration = 200; initialDepth = 3612.375538; finalDepth = 3614.383432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3614.383432 # Seafloor depth: -3664.383432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097842 meters # Minimum depth: 3662.375538 meters looking forward 0.000000 meters along route # Maximum depth: 3662.375538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.375538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065844; longitude = -123.246620; captureRadius = 10; duration = 200; initialDepth = 3610.625179; finalDepth = 3612.375538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.375538 # Seafloor depth: -3662.375538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097831 meters # Minimum depth: 3660.625179 meters looking forward 0.000000 meters along route # Maximum depth: 3660.625179 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.625179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064943; longitude = -123.246565; captureRadius = 10; duration = 200; initialDepth = 3612.783903; finalDepth = 3610.625179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.625179 # Seafloor depth: -3660.625179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097817 meters # Minimum depth: 3662.783903 meters looking forward 0.000000 meters along route # Maximum depth: 3662.783903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.783903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064041; longitude = -123.246510; captureRadius = 10; duration = 200; initialDepth = 3616.000109; finalDepth = 3612.783903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.783903 # Seafloor depth: -3662.783903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097806 meters # Minimum depth: 3666.000109 meters looking forward 0.000000 meters along route # Maximum depth: 3666.000109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3616.000109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063140; longitude = -123.246455; captureRadius = 10; duration = 200; initialDepth = 3617.491323; finalDepth = 3616.000109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3616.000109 # Seafloor depth: -3666.000109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.097792 meters # Minimum depth: 3667.491323 meters looking forward 0.000000 meters along route # Maximum depth: 3667.491323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3617.491323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062239; longitude = -123.246400; captureRadius = 10; duration = 200; initialDepth = 3618.209666; finalDepth = 3617.491323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3617.491323 # Seafloor depth: -3667.491323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 103.075161 meters # Minimum depth: 3668.209666 meters looking forward 0.000000 meters along route # Maximum depth: 3668.209666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.209666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061337; longitude = -123.246345; captureRadius = 10; duration = 206; initialDepth = 3620.041016; finalDepth = 3618.209666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.209666 # Seafloor depth: -3668.209666 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 150.042888 meters # Minimum depth: 3670.041016 meters looking forward 0.000000 meters along route # Maximum depth: 3670.041016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3620.041016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060409; longitude = -123.246288; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3604.526794; finalDepth = 3620.041016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.041016 # Seafloor depth: -3670.041016 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 120.659062 meters # Minimum depth: 3654.526794 meters looking forward 0.000000 meters along route # Maximum depth: 3654.526794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.526794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060476; longitude = -123.244624; captureRadius = 10; duration = 241; # abortOnTimeout = True; initialDepth = 3605.247177; finalDepth = 3604.526794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.526794 # Seafloor depth: -3654.526794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097788 meters # Minimum depth: 3655.247177 meters looking forward 0.000000 meters along route # Maximum depth: 3655.247177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.247177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061563; longitude = -123.244690; captureRadius = 10; duration = 200; initialDepth = 3604.699139; finalDepth = 3605.247177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.247177 # Seafloor depth: -3655.247177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097800 meters # Minimum depth: 3654.699139 meters looking forward 0.000000 meters along route # Maximum depth: 3654.699139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.699139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062464; longitude = -123.244745; captureRadius = 10; duration = 200; initialDepth = 3605.268431; finalDepth = 3604.699139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.699139 # Seafloor depth: -3654.699139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097813 meters # Minimum depth: 3655.268431 meters looking forward 0.000000 meters along route # Maximum depth: 3655.268431 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.268431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063365; longitude = -123.244800; captureRadius = 10; duration = 200; initialDepth = 3607.037343; finalDepth = 3605.268431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.268431 # Seafloor depth: -3655.268431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097825 meters # Minimum depth: 3657.037343 meters looking forward 0.000000 meters along route # Maximum depth: 3657.037343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3607.037343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064267; longitude = -123.244856; captureRadius = 10; duration = 200; initialDepth = 3605.213842; finalDepth = 3607.037343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.037343 # Seafloor depth: -3657.037343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097838 meters # Minimum depth: 3655.213842 meters looking forward 0.000000 meters along route # Maximum depth: 3655.213842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.213842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065168; longitude = -123.244911; captureRadius = 10; duration = 200; initialDepth = 3603.341297; finalDepth = 3605.213842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.213842 # Seafloor depth: -3655.213842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097850 meters # Minimum depth: 3653.341297 meters looking forward 0.000000 meters along route # Maximum depth: 3653.341297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.341297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066069; longitude = -123.244966; captureRadius = 10; duration = 200; initialDepth = 3600.185616; finalDepth = 3603.341297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.341297 # Seafloor depth: -3653.341297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097863 meters # Minimum depth: 3650.185616 meters looking forward 0.000000 meters along route # Maximum depth: 3650.185616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3600.185616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066971; longitude = -123.245021; captureRadius = 10; duration = 200; initialDepth = 3602.382221; finalDepth = 3600.185616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3600.185616 # Seafloor depth: -3650.185616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097875 meters # Minimum depth: 3652.382221 meters looking forward 0.000000 meters along route # Maximum depth: 3652.382221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.382221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067872; longitude = -123.245076; captureRadius = 10; duration = 200; initialDepth = 3603.413025; finalDepth = 3602.382221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.382221 # Seafloor depth: -3652.382221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097887 meters # Minimum depth: 3653.413025 meters looking forward 0.000000 meters along route # Maximum depth: 3653.413025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.413025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068773; longitude = -123.245131; captureRadius = 10; duration = 200; initialDepth = 3602.866980; finalDepth = 3603.413025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.413025 # Seafloor depth: -3653.413025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097901 meters # Minimum depth: 3652.866980 meters looking forward 0.000000 meters along route # Maximum depth: 3652.866980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.866980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069675; longitude = -123.245186; captureRadius = 10; duration = 200; initialDepth = 3608.062321; finalDepth = 3602.866980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.86698 # Seafloor depth: -3652.866980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097912 meters # Minimum depth: 3658.062321 meters looking forward 0.000000 meters along route # Maximum depth: 3658.062321 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3608.062321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070576; longitude = -123.245241; captureRadius = 10; duration = 200; initialDepth = 3606.236981; finalDepth = 3608.062321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3608.062321 # Seafloor depth: -3658.062321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097926 meters # Minimum depth: 3656.236981 meters looking forward 0.000000 meters along route # Maximum depth: 3656.236981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3606.236981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071477; longitude = -123.245296; captureRadius = 10; duration = 200; initialDepth = 3605.204062; finalDepth = 3606.236981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.236981 # Seafloor depth: -3656.236981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097937 meters # Minimum depth: 3655.204062 meters looking forward 0.000000 meters along route # Maximum depth: 3655.204062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.204062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072379; longitude = -123.245351; captureRadius = 10; duration = 200; initialDepth = 3598.029602; finalDepth = 3605.204062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.204062 # Seafloor depth: -3655.204062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097950 meters # Minimum depth: 3648.029602 meters looking forward 0.000000 meters along route # Maximum depth: 3648.029602 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.029602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073280; longitude = -123.245406; captureRadius = 10; duration = 200; initialDepth = 3600.323656; finalDepth = 3598.029602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.029602 # Seafloor depth: -3648.029602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097963 meters # Minimum depth: 3650.323656 meters looking forward 0.000000 meters along route # Maximum depth: 3650.323656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3600.323656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074181; longitude = -123.245461; captureRadius = 10; duration = 200; initialDepth = 3598.297229; finalDepth = 3600.323656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3600.323656 # Seafloor depth: -3650.323656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097975 meters # Minimum depth: 3648.297229 meters looking forward 0.000000 meters along route # Maximum depth: 3648.297229 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.297229 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075083; longitude = -123.245516; captureRadius = 10; duration = 200; initialDepth = 3599.853613; finalDepth = 3598.297229; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.297229 # Seafloor depth: -3648.297229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.097988 meters # Minimum depth: 3649.853613 meters looking forward 0.000000 meters along route # Maximum depth: 3649.853613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3599.853613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075984; longitude = -123.245571; captureRadius = 10; duration = 200; initialDepth = 3604.100888; finalDepth = 3599.853613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.853613 # Seafloor depth: -3649.853613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098000 meters # Minimum depth: 3654.100888 meters looking forward 0.000000 meters along route # Maximum depth: 3654.100888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3604.100888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076886; longitude = -123.245626; captureRadius = 10; duration = 200; initialDepth = 3601.571343; finalDepth = 3604.100888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.100888 # Seafloor depth: -3654.100888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098013 meters # Minimum depth: 3651.571343 meters looking forward 0.000000 meters along route # Maximum depth: 3651.571343 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.571343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077787; longitude = -123.245681; captureRadius = 10; duration = 200; initialDepth = 3600.895419; finalDepth = 3601.571343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.571343 # Seafloor depth: -3651.571343 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098025 meters # Minimum depth: 3650.895419 meters looking forward 0.000000 meters along route # Maximum depth: 3650.895419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3600.895419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078688; longitude = -123.245737; captureRadius = 10; duration = 200; initialDepth = 3598.463484; finalDepth = 3600.895419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3600.895419 # Seafloor depth: -3650.895419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098038 meters # Minimum depth: 3648.463484 meters looking forward 0.000000 meters along route # Maximum depth: 3648.463484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.463484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079590; longitude = -123.245792; captureRadius = 10; duration = 200; initialDepth = 3598.796763; finalDepth = 3598.463484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.463484 # Seafloor depth: -3648.463484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098050 meters # Minimum depth: 3648.796763 meters looking forward 0.000000 meters along route # Maximum depth: 3648.796763 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.796763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080491; longitude = -123.245847; captureRadius = 10; duration = 200; initialDepth = 3601.430913; finalDepth = 3598.796763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.796763 # Seafloor depth: -3648.796763 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098063 meters # Minimum depth: 3651.430913 meters looking forward 0.000000 meters along route # Maximum depth: 3651.430913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.430913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081392; longitude = -123.245902; captureRadius = 10; duration = 200; initialDepth = 3596.514215; finalDepth = 3601.430913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.430913 # Seafloor depth: -3651.430913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098075 meters # Minimum depth: 3646.514215 meters looking forward 0.000000 meters along route # Maximum depth: 3646.514215 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3596.514215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082294; longitude = -123.245957; captureRadius = 10; duration = 200; initialDepth = 3597.848446; finalDepth = 3596.514215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.514215 # Seafloor depth: -3646.514215 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098088 meters # Minimum depth: 3647.848446 meters looking forward 0.000000 meters along route # Maximum depth: 3647.848446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3597.848446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083195; longitude = -123.246012; captureRadius = 10; duration = 200; initialDepth = 3596.932819; finalDepth = 3597.848446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.848446 # Seafloor depth: -3647.848446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.098100 meters # Minimum depth: 3646.932819 meters looking forward 0.000000 meters along route # Maximum depth: 3646.932819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3596.932819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084096; longitude = -123.246067; captureRadius = 10; duration = 200; initialDepth = 3598.799832; finalDepth = 3596.932819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.932819 # Seafloor depth: -3646.932819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 109.199780 meters # Minimum depth: 3648.799832 meters looking forward 0.000000 meters along route # Maximum depth: 3648.799832 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.799832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084998; longitude = -123.246122; captureRadius = 10; duration = 218; initialDepth = 3599.399048; finalDepth = 3598.799832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.799832 # Seafloor depth: -3648.799832 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 149.994444 meters # Minimum depth: 3649.399048 meters looking forward 0.000000 meters along route # Maximum depth: 3649.399048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3599.399048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085981; longitude = -123.246182; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3590.515625; finalDepth = 3599.399048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.399048 # Seafloor depth: -3649.399048 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 116.640146 meters # Minimum depth: 3640.515625 meters looking forward 0.000000 meters along route # Maximum depth: 3640.515625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3590.515625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086048; longitude = -123.244518; captureRadius = 10; duration = 233; # abortOnTimeout = True; initialDepth = 3587.772639; finalDepth = 3590.515625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3590.515625 # Seafloor depth: -3640.515625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097935 meters # Minimum depth: 3637.772639 meters looking forward 0.000000 meters along route # Maximum depth: 3637.772639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.772639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084998; longitude = -123.244454; captureRadius = 10; duration = 200; initialDepth = 3585.756717; finalDepth = 3587.772639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.772639 # Seafloor depth: -3637.772639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097922 meters # Minimum depth: 3635.756717 meters looking forward 0.000000 meters along route # Maximum depth: 3635.756717 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.756717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084096; longitude = -123.244399; captureRadius = 10; duration = 200; initialDepth = 3585.685030; finalDepth = 3585.756717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.756717 # Seafloor depth: -3635.756717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097909 meters # Minimum depth: 3635.685030 meters looking forward 0.000000 meters along route # Maximum depth: 3635.685030 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.685030 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083195; longitude = -123.244344; captureRadius = 10; duration = 200; initialDepth = 3584.475386; finalDepth = 3585.685030; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.68503 # Seafloor depth: -3635.685030 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097898 meters # Minimum depth: 3634.475386 meters looking forward 0.000000 meters along route # Maximum depth: 3634.475386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3584.475386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082294; longitude = -123.244289; captureRadius = 10; duration = 200; initialDepth = 3584.619764; finalDepth = 3584.475386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.475386 # Seafloor depth: -3634.475386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097884 meters # Minimum depth: 3634.619764 meters looking forward 0.000000 meters along route # Maximum depth: 3634.619764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3584.619764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081392; longitude = -123.244234; captureRadius = 10; duration = 200; initialDepth = 3587.852944; finalDepth = 3584.619764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.619764 # Seafloor depth: -3634.619764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097872 meters # Minimum depth: 3637.852944 meters looking forward 0.000000 meters along route # Maximum depth: 3637.852944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.852944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080491; longitude = -123.244179; captureRadius = 10; duration = 200; initialDepth = 3588.430025; finalDepth = 3587.852944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.852944 # Seafloor depth: -3637.852944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097860 meters # Minimum depth: 3638.430025 meters looking forward 0.000000 meters along route # Maximum depth: 3638.430025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3588.430025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079590; longitude = -123.244124; captureRadius = 10; duration = 200; initialDepth = 3591.500475; finalDepth = 3588.430025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.430025 # Seafloor depth: -3638.430025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097847 meters # Minimum depth: 3641.500475 meters looking forward 0.000000 meters along route # Maximum depth: 3641.500475 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3591.500475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078688; longitude = -123.244069; captureRadius = 10; duration = 200; initialDepth = 3591.610008; finalDepth = 3591.500475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3591.500475 # Seafloor depth: -3641.500475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097834 meters # Minimum depth: 3641.610008 meters looking forward 0.000000 meters along route # Maximum depth: 3641.610008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3591.610008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077787; longitude = -123.244014; captureRadius = 10; duration = 200; initialDepth = 3587.366651; finalDepth = 3591.610008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3591.610008 # Seafloor depth: -3641.610008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097822 meters # Minimum depth: 3637.366651 meters looking forward 0.000000 meters along route # Maximum depth: 3637.366651 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.366651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076886; longitude = -123.243959; captureRadius = 10; duration = 200; initialDepth = 3586.372048; finalDepth = 3587.366651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.366651 # Seafloor depth: -3637.366651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097810 meters # Minimum depth: 3636.372048 meters looking forward 0.000000 meters along route # Maximum depth: 3636.372048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3586.372048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075984; longitude = -123.243904; captureRadius = 10; duration = 200; initialDepth = 3586.229819; finalDepth = 3586.372048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3586.372048 # Seafloor depth: -3636.372048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097797 meters # Minimum depth: 3636.229819 meters looking forward 0.000000 meters along route # Maximum depth: 3636.229819 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3586.229819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075083; longitude = -123.243849; captureRadius = 10; duration = 200; initialDepth = 3587.307086; finalDepth = 3586.229819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3586.229819 # Seafloor depth: -3636.229819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097784 meters # Minimum depth: 3637.307086 meters looking forward 0.000000 meters along route # Maximum depth: 3637.307086 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.307086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074181; longitude = -123.243794; captureRadius = 10; duration = 200; initialDepth = 3589.555104; finalDepth = 3587.307086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.307086 # Seafloor depth: -3637.307086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097772 meters # Minimum depth: 3639.555104 meters looking forward 0.000000 meters along route # Maximum depth: 3639.555104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3589.555104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073280; longitude = -123.243739; captureRadius = 10; duration = 200; initialDepth = 3593.355625; finalDepth = 3589.555104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3589.555104 # Seafloor depth: -3639.555104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097760 meters # Minimum depth: 3643.355625 meters looking forward 0.000000 meters along route # Maximum depth: 3643.355625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3593.355625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072379; longitude = -123.243684; captureRadius = 10; duration = 200; initialDepth = 3597.172320; finalDepth = 3593.355625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3593.355625 # Seafloor depth: -3643.355625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097747 meters # Minimum depth: 3647.172320 meters looking forward 0.000000 meters along route # Maximum depth: 3647.172320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3597.172320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071477; longitude = -123.243629; captureRadius = 10; duration = 200; initialDepth = 3601.439609; finalDepth = 3597.172320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.17232 # Seafloor depth: -3647.172320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097734 meters # Minimum depth: 3651.439609 meters looking forward 0.000000 meters along route # Maximum depth: 3651.439609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.439609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070576; longitude = -123.243573; captureRadius = 10; duration = 200; initialDepth = 3598.101623; finalDepth = 3601.439609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.439609 # Seafloor depth: -3651.439609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097722 meters # Minimum depth: 3648.101623 meters looking forward 0.000000 meters along route # Maximum depth: 3648.101623 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3598.101623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069675; longitude = -123.243518; captureRadius = 10; duration = 200; initialDepth = 3599.672009; finalDepth = 3598.101623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3598.101623 # Seafloor depth: -3648.101623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097709 meters # Minimum depth: 3649.672009 meters looking forward 0.000000 meters along route # Maximum depth: 3649.672009 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3599.672009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068773; longitude = -123.243463; captureRadius = 10; duration = 200; initialDepth = 3599.678626; finalDepth = 3599.672009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.672009 # Seafloor depth: -3649.672009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097697 meters # Minimum depth: 3649.678626 meters looking forward 0.000000 meters along route # Maximum depth: 3649.678626 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3599.678626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067872; longitude = -123.243408; captureRadius = 10; duration = 200; initialDepth = 3599.470948; finalDepth = 3599.678626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.678626 # Seafloor depth: -3649.678626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097685 meters # Minimum depth: 3649.470948 meters looking forward 0.000000 meters along route # Maximum depth: 3649.470948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3599.470948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066971; longitude = -123.243353; captureRadius = 10; duration = 200; initialDepth = 3601.030908; finalDepth = 3599.470948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3599.470948 # Seafloor depth: -3649.470948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097672 meters # Minimum depth: 3651.030908 meters looking forward 0.000000 meters along route # Maximum depth: 3651.030908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.030908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066069; longitude = -123.243298; captureRadius = 10; duration = 200; initialDepth = 3602.596393; finalDepth = 3601.030908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.030908 # Seafloor depth: -3651.030908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097659 meters # Minimum depth: 3652.596393 meters looking forward 0.000000 meters along route # Maximum depth: 3652.596393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.596393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065168; longitude = -123.243243; captureRadius = 10; duration = 200; initialDepth = 3605.527266; finalDepth = 3602.596393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.596393 # Seafloor depth: -3652.596393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097647 meters # Minimum depth: 3655.527266 meters looking forward 0.000000 meters along route # Maximum depth: 3655.527266 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.527266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064267; longitude = -123.243188; captureRadius = 10; duration = 200; initialDepth = 3609.834655; finalDepth = 3605.527266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.527266 # Seafloor depth: -3655.527266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097635 meters # Minimum depth: 3659.834655 meters looking forward 0.000000 meters along route # Maximum depth: 3659.834655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3609.834655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063365; longitude = -123.243133; captureRadius = 10; duration = 200; initialDepth = 3608.708309; finalDepth = 3609.834655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.834655 # Seafloor depth: -3659.834655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.097621 meters # Minimum depth: 3658.708309 meters looking forward 0.000000 meters along route # Maximum depth: 3658.708309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3608.708309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062464; longitude = -123.243078; captureRadius = 10; duration = 200; initialDepth = 3610.310231; finalDepth = 3608.708309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3608.708309 # Seafloor depth: -3658.708309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 113.218341 meters # Minimum depth: 3660.310231 meters looking forward 0.000000 meters along route # Maximum depth: 3660.310231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.310231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061563; longitude = -123.243023; captureRadius = 10; duration = 226; initialDepth = 3610.084656; finalDepth = 3610.310231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.310231 # Seafloor depth: -3660.310231 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 150.042610 meters # Minimum depth: 3660.084656 meters looking forward 0.000000 meters along route # Maximum depth: 3660.084656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3610.084656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060543; longitude = -123.242961; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3596.052185; finalDepth = 3610.084656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.084656 # Seafloor depth: -3660.084656 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 105.777644 meters # Minimum depth: 3646.052185 meters looking forward 0.000000 meters along route # Maximum depth: 3646.052185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3596.052185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060610; longitude = -123.241297; captureRadius = 10; duration = 211; # abortOnTimeout = True; initialDepth = 3595.142115; finalDepth = 3596.052185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3596.052185 # Seafloor depth: -3646.052185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097457 meters # Minimum depth: 3645.142115 meters looking forward 0.000000 meters along route # Maximum depth: 3645.142115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3595.142115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061563; longitude = -123.241355; captureRadius = 10; duration = 200; initialDepth = 3593.770984; finalDepth = 3595.142115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3595.142115 # Seafloor depth: -3645.142115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097468 meters # Minimum depth: 3643.770984 meters looking forward 0.000000 meters along route # Maximum depth: 3643.770984 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3593.770984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062464; longitude = -123.241410; captureRadius = 10; duration = 200; initialDepth = 3590.467606; finalDepth = 3593.770984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3593.770984 # Seafloor depth: -3643.770984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097482 meters # Minimum depth: 3640.467606 meters looking forward 0.000000 meters along route # Maximum depth: 3640.467606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3590.467606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063365; longitude = -123.241465; captureRadius = 10; duration = 200; initialDepth = 3589.249660; finalDepth = 3590.467606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3590.467606 # Seafloor depth: -3640.467606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097494 meters # Minimum depth: 3639.249660 meters looking forward 0.000000 meters along route # Maximum depth: 3639.249660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3589.249660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064267; longitude = -123.241520; captureRadius = 10; duration = 200; initialDepth = 3588.657366; finalDepth = 3589.249660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3589.24966 # Seafloor depth: -3639.249660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097506 meters # Minimum depth: 3638.657366 meters looking forward 0.000000 meters along route # Maximum depth: 3638.657366 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3588.657366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065168; longitude = -123.241575; captureRadius = 10; duration = 200; initialDepth = 3587.599812; finalDepth = 3588.657366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.657366 # Seafloor depth: -3638.657366 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097519 meters # Minimum depth: 3637.599812 meters looking forward 0.000000 meters along route # Maximum depth: 3637.599812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.599812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066069; longitude = -123.241630; captureRadius = 10; duration = 200; initialDepth = 3588.286421; finalDepth = 3587.599812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.599812 # Seafloor depth: -3637.599812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097531 meters # Minimum depth: 3638.286421 meters looking forward 0.000000 meters along route # Maximum depth: 3638.286421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3588.286421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066971; longitude = -123.241685; captureRadius = 10; duration = 200; initialDepth = 3584.384103; finalDepth = 3588.286421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3588.286421 # Seafloor depth: -3638.286421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097544 meters # Minimum depth: 3634.384103 meters looking forward 0.000000 meters along route # Maximum depth: 3634.384103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3584.384103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067872; longitude = -123.241740; captureRadius = 10; duration = 200; initialDepth = 3586.642936; finalDepth = 3584.384103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.384103 # Seafloor depth: -3634.384103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097556 meters # Minimum depth: 3636.642936 meters looking forward 0.000000 meters along route # Maximum depth: 3636.642936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3586.642936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068773; longitude = -123.241795; captureRadius = 10; duration = 200; initialDepth = 3585.430894; finalDepth = 3586.642936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3586.642936 # Seafloor depth: -3636.642936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097569 meters # Minimum depth: 3635.430894 meters looking forward 0.000000 meters along route # Maximum depth: 3635.430894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.430894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069675; longitude = -123.241850; captureRadius = 10; duration = 200; initialDepth = 3582.879374; finalDepth = 3585.430894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.430894 # Seafloor depth: -3635.430894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097582 meters # Minimum depth: 3632.879374 meters looking forward 0.000000 meters along route # Maximum depth: 3632.879374 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3582.879374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070576; longitude = -123.241905; captureRadius = 10; duration = 200; initialDepth = 3582.106139; finalDepth = 3582.879374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3582.879374 # Seafloor depth: -3632.879374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097594 meters # Minimum depth: 3632.106139 meters looking forward 0.000000 meters along route # Maximum depth: 3632.106139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3582.106139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071477; longitude = -123.241960; captureRadius = 10; duration = 200; initialDepth = 3583.329582; finalDepth = 3582.106139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3582.106139 # Seafloor depth: -3632.106139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097606 meters # Minimum depth: 3633.329582 meters looking forward 0.000000 meters along route # Maximum depth: 3633.329582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3583.329582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072379; longitude = -123.242015; captureRadius = 10; duration = 200; initialDepth = 3578.622218; finalDepth = 3583.329582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.329582 # Seafloor depth: -3633.329582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097619 meters # Minimum depth: 3628.622218 meters looking forward 0.000000 meters along route # Maximum depth: 3628.622218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.622218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073280; longitude = -123.242070; captureRadius = 10; duration = 200; initialDepth = 3575.750463; finalDepth = 3578.622218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.622218 # Seafloor depth: -3628.622218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097631 meters # Minimum depth: 3625.750463 meters looking forward 0.000000 meters along route # Maximum depth: 3625.750463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.750463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074181; longitude = -123.242125; captureRadius = 10; duration = 200; initialDepth = 3574.973199; finalDepth = 3575.750463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.750463 # Seafloor depth: -3625.750463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097644 meters # Minimum depth: 3624.973199 meters looking forward 0.000000 meters along route # Maximum depth: 3624.973199 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.973199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075083; longitude = -123.242180; captureRadius = 10; duration = 200; initialDepth = 3577.779044; finalDepth = 3574.973199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.973199 # Seafloor depth: -3624.973199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097657 meters # Minimum depth: 3627.779044 meters looking forward 0.000000 meters along route # Maximum depth: 3627.779044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3577.779044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075984; longitude = -123.242235; captureRadius = 10; duration = 200; initialDepth = 3578.953005; finalDepth = 3577.779044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3577.779044 # Seafloor depth: -3627.779044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097669 meters # Minimum depth: 3628.953005 meters looking forward 0.000000 meters along route # Maximum depth: 3628.953005 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.953005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076886; longitude = -123.242290; captureRadius = 10; duration = 200; initialDepth = 3574.477095; finalDepth = 3578.953005; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.953005 # Seafloor depth: -3628.953005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097681 meters # Minimum depth: 3624.477095 meters looking forward 0.000000 meters along route # Maximum depth: 3624.477095 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.477095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077787; longitude = -123.242345; captureRadius = 10; duration = 200; initialDepth = 3573.942282; finalDepth = 3574.477095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.477095 # Seafloor depth: -3624.477095 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097694 meters # Minimum depth: 3623.942282 meters looking forward 0.000000 meters along route # Maximum depth: 3623.942282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3573.942282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078688; longitude = -123.242400; captureRadius = 10; duration = 200; initialDepth = 3576.161514; finalDepth = 3573.942282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3573.942282 # Seafloor depth: -3623.942282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097707 meters # Minimum depth: 3626.161514 meters looking forward 0.000000 meters along route # Maximum depth: 3626.161514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.161514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079590; longitude = -123.242455; captureRadius = 10; duration = 200; initialDepth = 3573.802553; finalDepth = 3576.161514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.161514 # Seafloor depth: -3626.161514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097718 meters # Minimum depth: 3623.802553 meters looking forward 0.000000 meters along route # Maximum depth: 3623.802553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3573.802553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080491; longitude = -123.242510; captureRadius = 10; duration = 200; initialDepth = 3571.407433; finalDepth = 3573.802553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3573.802553 # Seafloor depth: -3623.802553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097732 meters # Minimum depth: 3621.407433 meters looking forward 0.000000 meters along route # Maximum depth: 3621.407433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3571.407433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081392; longitude = -123.242565; captureRadius = 10; duration = 200; initialDepth = 3569.570181; finalDepth = 3571.407433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3571.407433 # Seafloor depth: -3621.407433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097744 meters # Minimum depth: 3619.570181 meters looking forward 0.000000 meters along route # Maximum depth: 3619.570181 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.570181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082294; longitude = -123.242620; captureRadius = 10; duration = 200; initialDepth = 3570.166175; finalDepth = 3569.570181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3569.570181 # Seafloor depth: -3619.570181 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097756 meters # Minimum depth: 3620.166175 meters looking forward 0.000000 meters along route # Maximum depth: 3620.166175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3570.166175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083195; longitude = -123.242675; captureRadius = 10; duration = 200; initialDepth = 3573.724641; finalDepth = 3570.166175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3570.166175 # Seafloor depth: -3620.166175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.097769 meters # Minimum depth: 3623.724641 meters looking forward 0.000000 meters along route # Maximum depth: 3623.724641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3573.724641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084096; longitude = -123.242730; captureRadius = 10; duration = 200; initialDepth = 3574.121376; finalDepth = 3573.724641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3573.724641 # Seafloor depth: -3623.724641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 124.080490 meters # Minimum depth: 3624.121376 meters looking forward 0.000000 meters along route # Maximum depth: 3624.121376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.121376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084998; longitude = -123.242785; captureRadius = 10; duration = 248; initialDepth = 3577.262146; finalDepth = 3574.121376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.121376 # Seafloor depth: -3624.121376 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 149.994166 meters # Minimum depth: 3627.262146 meters looking forward 0.000000 meters along route # Maximum depth: 3627.262146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3577.262146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086115; longitude = -123.242853; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3567.894409; finalDepth = 3577.262146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3577.262146 # Seafloor depth: -3627.262146 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 106.496406 meters # Minimum depth: 3617.894409 meters looking forward 0.000000 meters along route # Maximum depth: 3617.894409 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3567.894409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086182; longitude = -123.241189; captureRadius = 10; duration = 212; # abortOnTimeout = True; initialDepth = 3568.247744; finalDepth = 3567.894409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.894409 # Seafloor depth: -3617.894409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097607 meters # Minimum depth: 3618.247744 meters looking forward 0.000000 meters along route # Maximum depth: 3618.247744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.247744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085223; longitude = -123.241131; captureRadius = 10; duration = 200; initialDepth = 3569.362839; finalDepth = 3568.247744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.247744 # Seafloor depth: -3618.247744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097594 meters # Minimum depth: 3619.362839 meters looking forward 0.000000 meters along route # Maximum depth: 3619.362839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.362839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084322; longitude = -123.241076; captureRadius = 10; duration = 200; initialDepth = 3568.571538; finalDepth = 3569.362839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3569.362839 # Seafloor depth: -3619.362839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097582 meters # Minimum depth: 3618.571538 meters looking forward 0.000000 meters along route # Maximum depth: 3618.571538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.571538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083420; longitude = -123.241021; captureRadius = 10; duration = 200; initialDepth = 3569.723222; finalDepth = 3568.571538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.571538 # Seafloor depth: -3618.571538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097569 meters # Minimum depth: 3619.723222 meters looking forward 0.000000 meters along route # Maximum depth: 3619.723222 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.723222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082519; longitude = -123.240966; captureRadius = 10; duration = 200; initialDepth = 3561.538701; finalDepth = 3569.723222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3569.723222 # Seafloor depth: -3619.723222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097556 meters # Minimum depth: 3611.538701 meters looking forward 0.000000 meters along route # Maximum depth: 3611.538701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3561.538701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081618; longitude = -123.240911; captureRadius = 10; duration = 200; initialDepth = 3555.394520; finalDepth = 3561.538701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3561.538701 # Seafloor depth: -3611.538701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097545 meters # Minimum depth: 3605.394520 meters looking forward 0.000000 meters along route # Maximum depth: 3605.394520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3555.394520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080716; longitude = -123.240856; captureRadius = 10; duration = 200; initialDepth = 3553.183469; finalDepth = 3555.394520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3555.39452 # Seafloor depth: -3605.394520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097531 meters # Minimum depth: 3603.183469 meters looking forward 0.000000 meters along route # Maximum depth: 3603.183469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3553.183469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079815; longitude = -123.240801; captureRadius = 10; duration = 200; initialDepth = 3555.214348; finalDepth = 3553.183469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3553.183469 # Seafloor depth: -3603.183469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097520 meters # Minimum depth: 3605.214348 meters looking forward 0.000000 meters along route # Maximum depth: 3605.214348 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3555.214348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078914; longitude = -123.240746; captureRadius = 10; duration = 200; initialDepth = 3557.782814; finalDepth = 3555.214348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3555.214348 # Seafloor depth: -3605.214348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097506 meters # Minimum depth: 3607.782814 meters looking forward 0.000000 meters along route # Maximum depth: 3607.782814 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3557.782814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078012; longitude = -123.240691; captureRadius = 10; duration = 200; initialDepth = 3570.254920; finalDepth = 3557.782814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3557.782814 # Seafloor depth: -3607.782814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097494 meters # Minimum depth: 3620.254920 meters looking forward 0.000000 meters along route # Maximum depth: 3620.254920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3570.254920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077111; longitude = -123.240636; captureRadius = 10; duration = 200; initialDepth = 3566.154715; finalDepth = 3570.254920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3570.25492 # Seafloor depth: -3620.254920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097482 meters # Minimum depth: 3616.154715 meters looking forward 0.000000 meters along route # Maximum depth: 3616.154715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3566.154715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076209; longitude = -123.240581; captureRadius = 10; duration = 200; initialDepth = 3563.966733; finalDepth = 3566.154715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3566.154715 # Seafloor depth: -3616.154715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097469 meters # Minimum depth: 3613.966733 meters looking forward 0.000000 meters along route # Maximum depth: 3613.966733 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3563.966733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075308; longitude = -123.240526; captureRadius = 10; duration = 200; initialDepth = 3565.652803; finalDepth = 3563.966733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3563.966733 # Seafloor depth: -3613.966733 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097457 meters # Minimum depth: 3615.652803 meters looking forward 0.000000 meters along route # Maximum depth: 3615.652803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3565.652803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074407; longitude = -123.240471; captureRadius = 10; duration = 200; initialDepth = 3571.017210; finalDepth = 3565.652803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3565.652803 # Seafloor depth: -3615.652803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097444 meters # Minimum depth: 3621.017210 meters looking forward 0.000000 meters along route # Maximum depth: 3621.017210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3571.017210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073505; longitude = -123.240416; captureRadius = 10; duration = 200; initialDepth = 3568.560071; finalDepth = 3571.017210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3571.01721 # Seafloor depth: -3621.017210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097431 meters # Minimum depth: 3618.560071 meters looking forward 0.000000 meters along route # Maximum depth: 3618.560071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.560071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072604; longitude = -123.240361; captureRadius = 10; duration = 200; initialDepth = 3572.908798; finalDepth = 3568.560071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.560071 # Seafloor depth: -3618.560071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097420 meters # Minimum depth: 3622.908798 meters looking forward 0.000000 meters along route # Maximum depth: 3622.908798 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3572.908798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071703; longitude = -123.240306; captureRadius = 10; duration = 200; initialDepth = 3574.244238; finalDepth = 3572.908798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3572.908798 # Seafloor depth: -3622.908798 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097406 meters # Minimum depth: 3624.244238 meters looking forward 0.000000 meters along route # Maximum depth: 3624.244238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.244238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070801; longitude = -123.240251; captureRadius = 10; duration = 200; initialDepth = 3574.920089; finalDepth = 3574.244238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.244238 # Seafloor depth: -3624.244238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097394 meters # Minimum depth: 3624.920089 meters looking forward 0.000000 meters along route # Maximum depth: 3624.920089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.920089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069900; longitude = -123.240196; captureRadius = 10; duration = 200; initialDepth = 3581.186730; finalDepth = 3574.920089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.920089 # Seafloor depth: -3624.920089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097382 meters # Minimum depth: 3631.186730 meters looking forward 0.000000 meters along route # Maximum depth: 3631.186730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3581.186730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068999; longitude = -123.240141; captureRadius = 10; duration = 200; initialDepth = 3579.932887; finalDepth = 3581.186730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.18673 # Seafloor depth: -3631.186730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097369 meters # Minimum depth: 3629.932887 meters looking forward 0.000000 meters along route # Maximum depth: 3629.932887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.932887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068097; longitude = -123.240086; captureRadius = 10; duration = 200; initialDepth = 3579.489644; finalDepth = 3579.932887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.932887 # Seafloor depth: -3629.932887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097356 meters # Minimum depth: 3629.489644 meters looking forward 0.000000 meters along route # Maximum depth: 3629.489644 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.489644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067196; longitude = -123.240031; captureRadius = 10; duration = 200; initialDepth = 3582.998699; finalDepth = 3579.489644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.489644 # Seafloor depth: -3629.489644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097345 meters # Minimum depth: 3632.998699 meters looking forward 0.000000 meters along route # Maximum depth: 3632.998699 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3582.998699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066295; longitude = -123.239976; captureRadius = 10; duration = 200; initialDepth = 3584.143726; finalDepth = 3582.998699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3582.998699 # Seafloor depth: -3632.998699 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097331 meters # Minimum depth: 3634.143726 meters looking forward 0.000000 meters along route # Maximum depth: 3634.143726 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3584.143726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065393; longitude = -123.239922; captureRadius = 10; duration = 200; initialDepth = 3585.522634; finalDepth = 3584.143726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.143726 # Seafloor depth: -3634.143726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097319 meters # Minimum depth: 3635.522634 meters looking forward 0.000000 meters along route # Maximum depth: 3635.522634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.522634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064492; longitude = -123.239867; captureRadius = 10; duration = 200; initialDepth = 3589.668696; finalDepth = 3585.522634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.522634 # Seafloor depth: -3635.522634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097307 meters # Minimum depth: 3639.668696 meters looking forward 0.000000 meters along route # Maximum depth: 3639.668696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3589.668696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063591; longitude = -123.239812; captureRadius = 10; duration = 200; initialDepth = 3594.611753; finalDepth = 3589.668696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3589.668696 # Seafloor depth: -3639.668696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.097294 meters # Minimum depth: 3644.611753 meters looking forward 0.000000 meters along route # Maximum depth: 3644.611753 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3594.611753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062689; longitude = -123.239757; captureRadius = 10; duration = 200; initialDepth = 3592.020758; finalDepth = 3594.611753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.611753 # Seafloor depth: -3644.611753 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 123.361293 meters # Minimum depth: 3642.020758 meters looking forward 0.000000 meters along route # Maximum depth: 3642.020758 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3592.020758 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061788; longitude = -123.239702; captureRadius = 10; duration = 246; initialDepth = 3591.752502; finalDepth = 3592.020758; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.020758 # Seafloor depth: -3642.020758 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 150.042332 meters # Minimum depth: 3641.752502 meters looking forward 0.000000 meters along route # Maximum depth: 3641.752502 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3591.752502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060677; longitude = -123.239634; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3593.585876; finalDepth = 3591.752502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3591.752502 # Seafloor depth: -3641.752502 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 115.920786 meters # Minimum depth: 3643.585876 meters looking forward 0.000000 meters along route # Maximum depth: 3643.585876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3593.585876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060744; longitude = -123.237970; captureRadius = 10; duration = 231; # abortOnTimeout = True; initialDepth = 3587.075049; finalDepth = 3593.585876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3593.585876 # Seafloor depth: -3643.585876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097286 meters # Minimum depth: 3637.075049 meters looking forward 0.000000 meters along route # Maximum depth: 3637.075049 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.075049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061788; longitude = -123.238034; captureRadius = 10; duration = 200; initialDepth = 3583.185404; finalDepth = 3587.075049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.075049 # Seafloor depth: -3637.075049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097299 meters # Minimum depth: 3633.185404 meters looking forward 0.000000 meters along route # Maximum depth: 3633.185404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3583.185404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062689; longitude = -123.238089; captureRadius = 10; duration = 200; initialDepth = 3585.461857; finalDepth = 3583.185404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.185404 # Seafloor depth: -3633.185404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097311 meters # Minimum depth: 3635.461857 meters looking forward 0.000000 meters along route # Maximum depth: 3635.461857 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.461857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063591; longitude = -123.238144; captureRadius = 10; duration = 200; initialDepth = 3579.861719; finalDepth = 3585.461857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.461857 # Seafloor depth: -3635.461857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097324 meters # Minimum depth: 3629.861719 meters looking forward 0.000000 meters along route # Maximum depth: 3629.861719 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.861719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064492; longitude = -123.238199; captureRadius = 10; duration = 200; initialDepth = 3583.018058; finalDepth = 3579.861719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.861719 # Seafloor depth: -3629.861719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097336 meters # Minimum depth: 3633.018058 meters looking forward 0.000000 meters along route # Maximum depth: 3633.018058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3583.018058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065393; longitude = -123.238253; captureRadius = 10; duration = 200; initialDepth = 3578.575080; finalDepth = 3583.018058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.018058 # Seafloor depth: -3633.018058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097348 meters # Minimum depth: 3628.575080 meters looking forward 0.000000 meters along route # Maximum depth: 3628.575080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.575080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066295; longitude = -123.238308; captureRadius = 10; duration = 200; initialDepth = 3576.654806; finalDepth = 3578.575080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.57508 # Seafloor depth: -3628.575080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097361 meters # Minimum depth: 3626.654806 meters looking forward 0.000000 meters along route # Maximum depth: 3626.654806 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.654806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067196; longitude = -123.238363; captureRadius = 10; duration = 200; initialDepth = 3573.983977; finalDepth = 3576.654806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.654806 # Seafloor depth: -3626.654806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097374 meters # Minimum depth: 3623.983977 meters looking forward 0.000000 meters along route # Maximum depth: 3623.983977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3573.983977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068097; longitude = -123.238418; captureRadius = 10; duration = 200; initialDepth = 3581.274513; finalDepth = 3573.983977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3573.983977 # Seafloor depth: -3623.983977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097386 meters # Minimum depth: 3631.274513 meters looking forward 0.000000 meters along route # Maximum depth: 3631.274513 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3581.274513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068999; longitude = -123.238473; captureRadius = 10; duration = 200; initialDepth = 3576.422697; finalDepth = 3581.274513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.274513 # Seafloor depth: -3631.274513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097399 meters # Minimum depth: 3626.422697 meters looking forward 0.000000 meters along route # Maximum depth: 3626.422697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.422697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069900; longitude = -123.238528; captureRadius = 10; duration = 200; initialDepth = 3571.835254; finalDepth = 3576.422697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.422697 # Seafloor depth: -3626.422697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097411 meters # Minimum depth: 3621.835254 meters looking forward 0.000000 meters along route # Maximum depth: 3621.835254 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3571.835254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070801; longitude = -123.238583; captureRadius = 10; duration = 200; initialDepth = 3578.747757; finalDepth = 3571.835254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3571.835254 # Seafloor depth: -3621.835254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097423 meters # Minimum depth: 3628.747757 meters looking forward 0.000000 meters along route # Maximum depth: 3628.747757 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.747757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071703; longitude = -123.238638; captureRadius = 10; duration = 200; initialDepth = 3575.440809; finalDepth = 3578.747757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.747757 # Seafloor depth: -3628.747757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097437 meters # Minimum depth: 3625.440809 meters looking forward 0.000000 meters along route # Maximum depth: 3625.440809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.440809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072604; longitude = -123.238693; captureRadius = 10; duration = 200; initialDepth = 3562.158983; finalDepth = 3575.440809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.440809 # Seafloor depth: -3625.440809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097448 meters # Minimum depth: 3612.158983 meters looking forward 0.000000 meters along route # Maximum depth: 3612.158983 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3562.158983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073505; longitude = -123.238748; captureRadius = 10; duration = 200; initialDepth = 3559.710130; finalDepth = 3562.158983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3562.158983 # Seafloor depth: -3612.158983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097461 meters # Minimum depth: 3609.710130 meters looking forward 0.000000 meters along route # Maximum depth: 3609.710130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3559.710130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074407; longitude = -123.238803; captureRadius = 10; duration = 200; initialDepth = 3558.012672; finalDepth = 3559.710130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3559.71013 # Seafloor depth: -3609.710130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097474 meters # Minimum depth: 3608.012672 meters looking forward 0.000000 meters along route # Maximum depth: 3608.012672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3558.012672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075308; longitude = -123.238858; captureRadius = 10; duration = 200; initialDepth = 3554.916316; finalDepth = 3558.012672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3558.012672 # Seafloor depth: -3608.012672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097486 meters # Minimum depth: 3604.916316 meters looking forward 0.000000 meters along route # Maximum depth: 3604.916316 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3554.916316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076209; longitude = -123.238913; captureRadius = 10; duration = 200; initialDepth = 3551.336869; finalDepth = 3554.916316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3554.916316 # Seafloor depth: -3604.916316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097499 meters # Minimum depth: 3601.336869 meters looking forward 0.000000 meters along route # Maximum depth: 3601.336869 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3551.336869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077111; longitude = -123.238968; captureRadius = 10; duration = 200; initialDepth = 3542.261217; finalDepth = 3551.336869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3551.336869 # Seafloor depth: -3601.336869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097511 meters # Minimum depth: 3592.261217 meters looking forward 0.000000 meters along route # Maximum depth: 3592.261217 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3542.261217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078012; longitude = -123.239023; captureRadius = 10; duration = 200; initialDepth = 3543.906725; finalDepth = 3542.261217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3542.261217 # Seafloor depth: -3592.261217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097524 meters # Minimum depth: 3593.906725 meters looking forward 0.000000 meters along route # Maximum depth: 3593.906725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3543.906725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078914; longitude = -123.239078; captureRadius = 10; duration = 200; initialDepth = 3531.146596; finalDepth = 3543.906725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3543.906725 # Seafloor depth: -3593.906725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097536 meters # Minimum depth: 3581.146596 meters looking forward 0.000000 meters along route # Maximum depth: 3581.146596 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3531.146596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079815; longitude = -123.239133; captureRadius = 10; duration = 200; initialDepth = 3527.792807; finalDepth = 3531.146596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3531.146596 # Seafloor depth: -3581.146596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097549 meters # Minimum depth: 3577.792807 meters looking forward 0.000000 meters along route # Maximum depth: 3577.792807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3527.792807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080716; longitude = -123.239188; captureRadius = 10; duration = 200; initialDepth = 3537.470611; finalDepth = 3527.792807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3527.792807 # Seafloor depth: -3577.792807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097561 meters # Minimum depth: 3587.470611 meters looking forward 0.000000 meters along route # Maximum depth: 3587.470611 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3537.470611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081618; longitude = -123.239243; captureRadius = 10; duration = 200; initialDepth = 3547.500946; finalDepth = 3537.470611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3537.470611 # Seafloor depth: -3587.470611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097573 meters # Minimum depth: 3597.500946 meters looking forward 0.000000 meters along route # Maximum depth: 3597.500946 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3547.500946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082519; longitude = -123.239298; captureRadius = 10; duration = 200; initialDepth = 3543.529519; finalDepth = 3547.500946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3547.500946 # Seafloor depth: -3597.500946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097587 meters # Minimum depth: 3593.529519 meters looking forward 0.000000 meters along route # Maximum depth: 3593.529519 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3543.529519 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083420; longitude = -123.239353; captureRadius = 10; duration = 200; initialDepth = 3551.789057; finalDepth = 3543.529519; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3543.529519 # Seafloor depth: -3593.529519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.097598 meters # Minimum depth: 3601.789057 meters looking forward 0.000000 meters along route # Maximum depth: 3601.789057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3551.789057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084322; longitude = -123.239407; captureRadius = 10; duration = 200; initialDepth = 3562.364228; finalDepth = 3551.789057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3551.789057 # Seafloor depth: -3601.789057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 113.936921 meters # Minimum depth: 3612.364228 meters looking forward 0.000000 meters along route # Maximum depth: 3612.364228 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3562.364228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085223; longitude = -123.239462; captureRadius = 10; duration = 227; initialDepth = 3567.480103; finalDepth = 3562.364228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3562.364228 # Seafloor depth: -3612.364228 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 149.993888 meters # Minimum depth: 3617.480103 meters looking forward 0.000000 meters along route # Maximum depth: 3617.480103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3567.480103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086249; longitude = -123.239525; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3516.235352; finalDepth = 3567.480103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.480103 # Seafloor depth: -3617.480103 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 121.377243 meters # Minimum depth: 3566.235352 meters looking forward 0.000000 meters along route # Maximum depth: 3566.235352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3516.235352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086316; longitude = -123.237861; captureRadius = 10; duration = 242; # abortOnTimeout = True; initialDepth = 3519.099162; finalDepth = 3516.235352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3516.235352 # Seafloor depth: -3566.235352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097434 meters # Minimum depth: 3569.099162 meters looking forward 0.000000 meters along route # Maximum depth: 3569.099162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.099162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085223; longitude = -123.237794; captureRadius = 10; duration = 200; initialDepth = 3516.307541; finalDepth = 3519.099162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.099162 # Seafloor depth: -3569.099162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097421 meters # Minimum depth: 3566.307541 meters looking forward 0.000000 meters along route # Maximum depth: 3566.307541 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3516.307541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084322; longitude = -123.237739; captureRadius = 10; duration = 200; initialDepth = 3502.676593; finalDepth = 3516.307541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3516.307541 # Seafloor depth: -3566.307541 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097408 meters # Minimum depth: 3552.676593 meters looking forward 0.000000 meters along route # Maximum depth: 3552.676593 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3502.676593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083420; longitude = -123.237685; captureRadius = 10; duration = 200; initialDepth = 3508.644880; finalDepth = 3502.676593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3502.676593 # Seafloor depth: -3552.676593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097396 meters # Minimum depth: 3558.644880 meters looking forward 0.000000 meters along route # Maximum depth: 3558.644880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.644880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082519; longitude = -123.237630; captureRadius = 10; duration = 200; initialDepth = 3508.936353; finalDepth = 3508.644880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.64488 # Seafloor depth: -3558.644880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097384 meters # Minimum depth: 3558.936353 meters looking forward 0.000000 meters along route # Maximum depth: 3558.936353 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.936353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081618; longitude = -123.237575; captureRadius = 10; duration = 200; initialDepth = 3508.613379; finalDepth = 3508.936353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.936353 # Seafloor depth: -3558.936353 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097371 meters # Minimum depth: 3558.613379 meters looking forward 0.000000 meters along route # Maximum depth: 3558.613379 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.613379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080716; longitude = -123.237520; captureRadius = 10; duration = 200; initialDepth = 3507.844476; finalDepth = 3508.613379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.613379 # Seafloor depth: -3558.613379 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097358 meters # Minimum depth: 3557.844476 meters looking forward 0.000000 meters along route # Maximum depth: 3557.844476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.844476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079815; longitude = -123.237465; captureRadius = 10; duration = 200; initialDepth = 3512.507106; finalDepth = 3507.844476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.844476 # Seafloor depth: -3557.844476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097346 meters # Minimum depth: 3562.507106 meters looking forward 0.000000 meters along route # Maximum depth: 3562.507106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.507106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078914; longitude = -123.237410; captureRadius = 10; duration = 200; initialDepth = 3515.521892; finalDepth = 3512.507106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3512.507106 # Seafloor depth: -3562.507106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097334 meters # Minimum depth: 3565.521892 meters looking forward 0.000000 meters along route # Maximum depth: 3565.521892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3515.521892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078012; longitude = -123.237355; captureRadius = 10; duration = 200; initialDepth = 3519.619581; finalDepth = 3515.521892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3515.521892 # Seafloor depth: -3565.521892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097321 meters # Minimum depth: 3569.619581 meters looking forward 0.000000 meters along route # Maximum depth: 3569.619581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.619581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077111; longitude = -123.237300; captureRadius = 10; duration = 200; initialDepth = 3522.004657; finalDepth = 3519.619581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.619581 # Seafloor depth: -3569.619581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097308 meters # Minimum depth: 3572.004657 meters looking forward 0.000000 meters along route # Maximum depth: 3572.004657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3522.004657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076209; longitude = -123.237245; captureRadius = 10; duration = 200; initialDepth = 3529.623203; finalDepth = 3522.004657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3522.004657 # Seafloor depth: -3572.004657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097296 meters # Minimum depth: 3579.623203 meters looking forward 0.000000 meters along route # Maximum depth: 3579.623203 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3529.623203 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075308; longitude = -123.237190; captureRadius = 10; duration = 200; initialDepth = 3534.438742; finalDepth = 3529.623203; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3529.623203 # Seafloor depth: -3579.623203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097284 meters # Minimum depth: 3584.438742 meters looking forward 0.000000 meters along route # Maximum depth: 3584.438742 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3534.438742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074407; longitude = -123.237135; captureRadius = 10; duration = 200; initialDepth = 3538.404403; finalDepth = 3534.438742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3534.438742 # Seafloor depth: -3584.438742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097271 meters # Minimum depth: 3588.404403 meters looking forward 0.000000 meters along route # Maximum depth: 3588.404403 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.404403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073505; longitude = -123.237080; captureRadius = 10; duration = 200; initialDepth = 3546.454974; finalDepth = 3538.404403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.404403 # Seafloor depth: -3588.404403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097258 meters # Minimum depth: 3596.454974 meters looking forward 0.000000 meters along route # Maximum depth: 3596.454974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3546.454974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072604; longitude = -123.237026; captureRadius = 10; duration = 200; initialDepth = 3543.302048; finalDepth = 3546.454974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.454974 # Seafloor depth: -3596.454974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097246 meters # Minimum depth: 3593.302048 meters looking forward 0.000000 meters along route # Maximum depth: 3593.302048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3543.302048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071703; longitude = -123.236971; captureRadius = 10; duration = 200; initialDepth = 3552.440491; finalDepth = 3543.302048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3543.302048 # Seafloor depth: -3593.302048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097233 meters # Minimum depth: 3602.440491 meters looking forward 0.000000 meters along route # Maximum depth: 3602.440491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3552.440491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070801; longitude = -123.236916; captureRadius = 10; duration = 200; initialDepth = 3559.647385; finalDepth = 3552.440491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3552.440491 # Seafloor depth: -3602.440491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097221 meters # Minimum depth: 3609.647385 meters looking forward 0.000000 meters along route # Maximum depth: 3609.647385 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3559.647385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069900; longitude = -123.236861; captureRadius = 10; duration = 200; initialDepth = 3555.571092; finalDepth = 3559.647385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3559.647385 # Seafloor depth: -3609.647385 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097209 meters # Minimum depth: 3605.571092 meters looking forward 0.000000 meters along route # Maximum depth: 3605.571092 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3555.571092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068999; longitude = -123.236806; captureRadius = 10; duration = 200; initialDepth = 3563.054701; finalDepth = 3555.571092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3555.571092 # Seafloor depth: -3605.571092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097195 meters # Minimum depth: 3613.054701 meters looking forward 0.000000 meters along route # Maximum depth: 3613.054701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3563.054701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068097; longitude = -123.236751; captureRadius = 10; duration = 200; initialDepth = 3568.444664; finalDepth = 3563.054701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3563.054701 # Seafloor depth: -3613.054701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097184 meters # Minimum depth: 3618.444664 meters looking forward 0.000000 meters along route # Maximum depth: 3618.444664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.444664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067196; longitude = -123.236696; captureRadius = 10; duration = 200; initialDepth = 3572.553349; finalDepth = 3568.444664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.444664 # Seafloor depth: -3618.444664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097171 meters # Minimum depth: 3622.553349 meters looking forward 0.000000 meters along route # Maximum depth: 3622.553349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3572.553349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066295; longitude = -123.236641; captureRadius = 10; duration = 200; initialDepth = 3576.726787; finalDepth = 3572.553349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3572.553349 # Seafloor depth: -3622.553349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097158 meters # Minimum depth: 3626.726787 meters looking forward 0.000000 meters along route # Maximum depth: 3626.726787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3576.726787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065393; longitude = -123.236586; captureRadius = 10; duration = 200; initialDepth = 3575.800666; finalDepth = 3576.726787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.726787 # Seafloor depth: -3626.726787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097146 meters # Minimum depth: 3625.800666 meters looking forward 0.000000 meters along route # Maximum depth: 3625.800666 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.800666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064492; longitude = -123.236531; captureRadius = 10; duration = 200; initialDepth = 3578.223543; finalDepth = 3575.800666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.800666 # Seafloor depth: -3625.800666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097133 meters # Minimum depth: 3628.223543 meters looking forward 0.000000 meters along route # Maximum depth: 3628.223543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.223543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063591; longitude = -123.236476; captureRadius = 10; duration = 200; initialDepth = 3579.495261; finalDepth = 3578.223543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.223543 # Seafloor depth: -3628.223543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.097121 meters # Minimum depth: 3629.495261 meters looking forward 0.000000 meters along route # Maximum depth: 3629.495261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.495261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062689; longitude = -123.236421; captureRadius = 10; duration = 200; initialDepth = 3580.859262; finalDepth = 3579.495261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.495261 # Seafloor depth: -3629.495261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.480110 meters # Minimum depth: 3630.859262 meters looking forward 0.000000 meters along route # Maximum depth: 3630.859262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3580.859262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061788; longitude = -123.236367; captureRadius = 10; duration = 216; initialDepth = 3583.731934; finalDepth = 3580.859262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3580.859262 # Seafloor depth: -3630.859262 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 150.036603 meters # Minimum depth: 3633.731934 meters looking forward 0.000000 meters along route # Maximum depth: 3633.731934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3583.731934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060811; longitude = -123.236307; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3575.190491; finalDepth = 3583.731934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.731934 # Seafloor depth: -3633.731934 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 126.174935 meters # Minimum depth: 3625.190491 meters looking forward 0.000000 meters along route # Maximum depth: 3625.190491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3575.190491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060877; longitude = -123.234643; captureRadius = 10; duration = 252; # abortOnTimeout = True; initialDepth = 3572.027925; finalDepth = 3575.190491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3575.190491 # Seafloor depth: -3625.190491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097106 meters # Minimum depth: 3622.027925 meters looking forward 0.000000 meters along route # Maximum depth: 3622.027925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3572.027925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062013; longitude = -123.234712; captureRadius = 10; duration = 200; initialDepth = 3569.690920; finalDepth = 3572.027925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3572.027925 # Seafloor depth: -3622.027925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097119 meters # Minimum depth: 3619.690920 meters looking forward 0.000000 meters along route # Maximum depth: 3619.690920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.690920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062915; longitude = -123.234767; captureRadius = 10; duration = 200; initialDepth = 3566.857720; finalDepth = 3569.690920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3569.69092 # Seafloor depth: -3619.690920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097132 meters # Minimum depth: 3616.857720 meters looking forward 0.000000 meters along route # Maximum depth: 3616.857720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3566.857720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063816; longitude = -123.234822; captureRadius = 10; duration = 200; initialDepth = 3564.804574; finalDepth = 3566.857720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3566.85772 # Seafloor depth: -3616.857720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097144 meters # Minimum depth: 3614.804574 meters looking forward 0.000000 meters along route # Maximum depth: 3614.804574 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3564.804574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064717; longitude = -123.234877; captureRadius = 10; duration = 200; initialDepth = 3560.116281; finalDepth = 3564.804574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3564.804574 # Seafloor depth: -3614.804574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097157 meters # Minimum depth: 3610.116281 meters looking forward 0.000000 meters along route # Maximum depth: 3610.116281 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3560.116281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065619; longitude = -123.234932; captureRadius = 10; duration = 200; initialDepth = 3552.200954; finalDepth = 3560.116281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3560.116281 # Seafloor depth: -3610.116281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097169 meters # Minimum depth: 3602.200954 meters looking forward 0.000000 meters along route # Maximum depth: 3602.200954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3552.200954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066520; longitude = -123.234987; captureRadius = 10; duration = 200; initialDepth = 3548.101807; finalDepth = 3552.200954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3552.200954 # Seafloor depth: -3602.200954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097181 meters # Minimum depth: 3598.101807 meters looking forward 0.000000 meters along route # Maximum depth: 3598.101807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3548.101807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067421; longitude = -123.235042; captureRadius = 10; duration = 200; initialDepth = 3539.844940; finalDepth = 3548.101807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3548.101807 # Seafloor depth: -3598.101807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097194 meters # Minimum depth: 3589.844940 meters looking forward 0.000000 meters along route # Maximum depth: 3589.844940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3539.844940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068323; longitude = -123.235097; captureRadius = 10; duration = 200; initialDepth = 3535.424377; finalDepth = 3539.844940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3539.84494 # Seafloor depth: -3589.844940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097207 meters # Minimum depth: 3585.424377 meters looking forward 0.000000 meters along route # Maximum depth: 3585.424377 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3535.424377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069224; longitude = -123.235152; captureRadius = 10; duration = 200; initialDepth = 3538.230715; finalDepth = 3535.424377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3535.424377 # Seafloor depth: -3585.424377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097219 meters # Minimum depth: 3588.230715 meters looking forward 0.000000 meters along route # Maximum depth: 3588.230715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.230715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070125; longitude = -123.235206; captureRadius = 10; duration = 200; initialDepth = 3531.847010; finalDepth = 3538.230715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.230715 # Seafloor depth: -3588.230715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097231 meters # Minimum depth: 3581.847010 meters looking forward 0.000000 meters along route # Maximum depth: 3581.847010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3531.847010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071027; longitude = -123.235261; captureRadius = 10; duration = 200; initialDepth = 3521.915309; finalDepth = 3531.847010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3531.84701 # Seafloor depth: -3581.847010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097244 meters # Minimum depth: 3571.915309 meters looking forward 0.000000 meters along route # Maximum depth: 3571.915309 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3521.915309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071928; longitude = -123.235316; captureRadius = 10; duration = 200; initialDepth = 3523.604327; finalDepth = 3521.915309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3521.915309 # Seafloor depth: -3571.915309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097257 meters # Minimum depth: 3573.604327 meters looking forward 0.000000 meters along route # Maximum depth: 3573.604327 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3523.604327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072829; longitude = -123.235371; captureRadius = 10; duration = 200; initialDepth = 3519.486571; finalDepth = 3523.604327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3523.604327 # Seafloor depth: -3573.604327 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097269 meters # Minimum depth: 3569.486571 meters looking forward 0.000000 meters along route # Maximum depth: 3569.486571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.486571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073731; longitude = -123.235426; captureRadius = 10; duration = 200; initialDepth = 3519.848318; finalDepth = 3519.486571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.486571 # Seafloor depth: -3569.486571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097282 meters # Minimum depth: 3569.848318 meters looking forward 0.000000 meters along route # Maximum depth: 3569.848318 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.848318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074632; longitude = -123.235481; captureRadius = 10; duration = 200; initialDepth = 3512.783102; finalDepth = 3519.848318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.848318 # Seafloor depth: -3569.848318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097294 meters # Minimum depth: 3562.783102 meters looking forward 0.000000 meters along route # Maximum depth: 3562.783102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.783102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075533; longitude = -123.235536; captureRadius = 10; duration = 200; initialDepth = 3509.068601; finalDepth = 3512.783102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3512.783102 # Seafloor depth: -3562.783102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097307 meters # Minimum depth: 3559.068601 meters looking forward 0.000000 meters along route # Maximum depth: 3559.068601 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.068601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076435; longitude = -123.235591; captureRadius = 10; duration = 200; initialDepth = 3505.964265; finalDepth = 3509.068601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.068601 # Seafloor depth: -3559.068601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097319 meters # Minimum depth: 3555.964265 meters looking forward 0.000000 meters along route # Maximum depth: 3555.964265 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3505.964265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077336; longitude = -123.235646; captureRadius = 10; duration = 200; initialDepth = 3509.204962; finalDepth = 3505.964265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3505.964265 # Seafloor depth: -3555.964265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097331 meters # Minimum depth: 3559.204962 meters looking forward 0.000000 meters along route # Maximum depth: 3559.204962 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.204962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078238; longitude = -123.235701; captureRadius = 10; duration = 200; initialDepth = 3515.982023; finalDepth = 3509.204962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.204962 # Seafloor depth: -3559.204962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097344 meters # Minimum depth: 3565.982023 meters looking forward 0.000000 meters along route # Maximum depth: 3565.982023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3515.982023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079139; longitude = -123.235756; captureRadius = 10; duration = 200; initialDepth = 3504.736517; finalDepth = 3515.982023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3515.982023 # Seafloor depth: -3565.982023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097357 meters # Minimum depth: 3554.736517 meters looking forward 0.000000 meters along route # Maximum depth: 3554.736517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.736517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080040; longitude = -123.235811; captureRadius = 10; duration = 200; initialDepth = 3507.302689; finalDepth = 3504.736517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3504.736517 # Seafloor depth: -3554.736517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097369 meters # Minimum depth: 3557.302689 meters looking forward 0.000000 meters along route # Maximum depth: 3557.302689 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.302689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080942; longitude = -123.235865; captureRadius = 10; duration = 200; initialDepth = 3510.347469; finalDepth = 3507.302689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.302689 # Seafloor depth: -3557.302689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097382 meters # Minimum depth: 3560.347469 meters looking forward 0.000000 meters along route # Maximum depth: 3560.347469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3510.347469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081843; longitude = -123.235920; captureRadius = 10; duration = 200; initialDepth = 3508.123210; finalDepth = 3510.347469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.347469 # Seafloor depth: -3560.347469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097394 meters # Minimum depth: 3558.123210 meters looking forward 0.000000 meters along route # Maximum depth: 3558.123210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.123210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082744; longitude = -123.235975; captureRadius = 10; duration = 200; initialDepth = 3505.038058; finalDepth = 3508.123210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.12321 # Seafloor depth: -3558.123210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097407 meters # Minimum depth: 3555.038058 meters looking forward 0.000000 meters along route # Maximum depth: 3555.038058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3505.038058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083646; longitude = -123.236030; captureRadius = 10; duration = 200; initialDepth = 3503.124029; finalDepth = 3505.038058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3505.038058 # Seafloor depth: -3555.038058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.097419 meters # Minimum depth: 3553.124029 meters looking forward 0.000000 meters along route # Maximum depth: 3553.124029 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.124029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084547; longitude = -123.236085; captureRadius = 10; duration = 200; initialDepth = 3504.302193; finalDepth = 3503.124029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.124029 # Seafloor depth: -3553.124029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.793376 meters # Minimum depth: 3554.302193 meters looking forward 0.000000 meters along route # Maximum depth: 3554.302193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.302193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085448; longitude = -123.236140; captureRadius = 10; duration = 207; initialDepth = 3508.237305; finalDepth = 3504.302193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3504.302193 # Seafloor depth: -3554.302193 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 149.993610 meters # Minimum depth: 3558.237305 meters looking forward 0.000000 meters along route # Maximum depth: 3558.237305 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3508.237305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086383; longitude = -123.236197; captureRadius = 10; duration = 299; # abortOnTimeout = True; initialDepth = 3503.879150; finalDepth = 3508.237305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3508.237305 # Seafloor depth: -3558.237305 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 111.233703 meters # Minimum depth: 3553.879150 meters looking forward 0.000000 meters along route # Maximum depth: 3553.879150 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.879150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086450; longitude = -123.234533; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 3499.417865; finalDepth = 3503.879150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.87915 # Seafloor depth: -3553.879150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097254 meters # Minimum depth: 3549.417865 meters looking forward 0.000000 meters along route # Maximum depth: 3549.417865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.417865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085448; longitude = -123.234472; captureRadius = 10; duration = 200; initialDepth = 3500.909421; finalDepth = 3499.417865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.417865 # Seafloor depth: -3549.417865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097242 meters # Minimum depth: 3550.909421 meters looking forward 0.000000 meters along route # Maximum depth: 3550.909421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.909421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084547; longitude = -123.234417; captureRadius = 10; duration = 200; initialDepth = 3500.557441; finalDepth = 3500.909421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.909421 # Seafloor depth: -3550.909421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097229 meters # Minimum depth: 3550.557441 meters looking forward 0.000000 meters along route # Maximum depth: 3550.557441 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.557441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083646; longitude = -123.234362; captureRadius = 10; duration = 200; initialDepth = 3500.943344; finalDepth = 3500.557441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.557441 # Seafloor depth: -3550.557441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097217 meters # Minimum depth: 3550.943344 meters looking forward 0.000000 meters along route # Maximum depth: 3550.943344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.943344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082744; longitude = -123.234307; captureRadius = 10; duration = 200; initialDepth = 3498.930961; finalDepth = 3500.943344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.943344 # Seafloor depth: -3550.943344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097204 meters # Minimum depth: 3548.930961 meters looking forward 0.000000 meters along route # Maximum depth: 3548.930961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.930961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081843; longitude = -123.234252; captureRadius = 10; duration = 200; initialDepth = 3501.782135; finalDepth = 3498.930961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.930961 # Seafloor depth: -3548.930961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097192 meters # Minimum depth: 3551.782135 meters looking forward 0.000000 meters along route # Maximum depth: 3551.782135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.782135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080942; longitude = -123.234198; captureRadius = 10; duration = 200; initialDepth = 3501.273479; finalDepth = 3501.782135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.782135 # Seafloor depth: -3551.782135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097179 meters # Minimum depth: 3551.273479 meters looking forward 0.000000 meters along route # Maximum depth: 3551.273479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.273479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080040; longitude = -123.234143; captureRadius = 10; duration = 200; initialDepth = 3498.746801; finalDepth = 3501.273479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.273479 # Seafloor depth: -3551.273479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097167 meters # Minimum depth: 3548.746801 meters looking forward 0.000000 meters along route # Maximum depth: 3548.746801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.746801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079139; longitude = -123.234088; captureRadius = 10; duration = 200; initialDepth = 3499.235675; finalDepth = 3498.746801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.746801 # Seafloor depth: -3548.746801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097154 meters # Minimum depth: 3549.235675 meters looking forward 0.000000 meters along route # Maximum depth: 3549.235675 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.235675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078238; longitude = -123.234033; captureRadius = 10; duration = 200; initialDepth = 3501.770291; finalDepth = 3499.235675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.235675 # Seafloor depth: -3549.235675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097142 meters # Minimum depth: 3551.770291 meters looking forward 0.000000 meters along route # Maximum depth: 3551.770291 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.770291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077336; longitude = -123.233978; captureRadius = 10; duration = 200; initialDepth = 3501.200039; finalDepth = 3501.770291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.770291 # Seafloor depth: -3551.770291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097129 meters # Minimum depth: 3551.200039 meters looking forward 0.000000 meters along route # Maximum depth: 3551.200039 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.200039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076435; longitude = -123.233923; captureRadius = 10; duration = 200; initialDepth = 3503.314278; finalDepth = 3501.200039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.200039 # Seafloor depth: -3551.200039 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097116 meters # Minimum depth: 3553.314278 meters looking forward 0.000000 meters along route # Maximum depth: 3553.314278 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.314278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075533; longitude = -123.233868; captureRadius = 10; duration = 200; initialDepth = 3504.669460; finalDepth = 3503.314278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.314278 # Seafloor depth: -3553.314278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097105 meters # Minimum depth: 3554.669460 meters looking forward 0.000000 meters along route # Maximum depth: 3554.669460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.669460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074632; longitude = -123.233813; captureRadius = 10; duration = 200; initialDepth = 3505.665033; finalDepth = 3504.669460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3504.66946 # Seafloor depth: -3554.669460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097091 meters # Minimum depth: 3555.665033 meters looking forward 0.000000 meters along route # Maximum depth: 3555.665033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3505.665033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073731; longitude = -123.233759; captureRadius = 10; duration = 200; initialDepth = 3507.445453; finalDepth = 3505.665033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3505.665033 # Seafloor depth: -3555.665033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097079 meters # Minimum depth: 3557.445453 meters looking forward 0.000000 meters along route # Maximum depth: 3557.445453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.445453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072829; longitude = -123.233704; captureRadius = 10; duration = 200; initialDepth = 3510.339469; finalDepth = 3507.445453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.445453 # Seafloor depth: -3557.445453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097067 meters # Minimum depth: 3560.339469 meters looking forward 0.000000 meters along route # Maximum depth: 3560.339469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3510.339469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071928; longitude = -123.233649; captureRadius = 10; duration = 200; initialDepth = 3515.916987; finalDepth = 3510.339469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.339469 # Seafloor depth: -3560.339469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097054 meters # Minimum depth: 3565.916987 meters looking forward 0.000000 meters along route # Maximum depth: 3565.916987 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3515.916987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071027; longitude = -123.233594; captureRadius = 10; duration = 200; initialDepth = 3518.307430; finalDepth = 3515.916987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3515.916987 # Seafloor depth: -3565.916987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097042 meters # Minimum depth: 3568.307430 meters looking forward 0.000000 meters along route # Maximum depth: 3568.307430 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.307430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070125; longitude = -123.233539; captureRadius = 10; duration = 200; initialDepth = 3518.278965; finalDepth = 3518.307430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3518.30743 # Seafloor depth: -3568.307430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097029 meters # Minimum depth: 3568.278965 meters looking forward 0.000000 meters along route # Maximum depth: 3568.278965 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.278965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069224; longitude = -123.233484; captureRadius = 10; duration = 200; initialDepth = 3520.627747; finalDepth = 3518.278965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3518.278965 # Seafloor depth: -3568.278965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097016 meters # Minimum depth: 3570.627747 meters looking forward 0.000000 meters along route # Maximum depth: 3570.627747 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.627747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068323; longitude = -123.233429; captureRadius = 10; duration = 200; initialDepth = 3524.911017; finalDepth = 3520.627747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3520.627747 # Seafloor depth: -3570.627747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.097004 meters # Minimum depth: 3574.911017 meters looking forward 0.000000 meters along route # Maximum depth: 3574.911017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3524.911017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067421; longitude = -123.233374; captureRadius = 10; duration = 200; initialDepth = 3529.710269; finalDepth = 3524.911017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3524.911017 # Seafloor depth: -3574.911017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.096992 meters # Minimum depth: 3579.710269 meters looking forward 0.000000 meters along route # Maximum depth: 3579.710269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3529.710269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066520; longitude = -123.233320; captureRadius = 10; duration = 200; initialDepth = 3538.351361; finalDepth = 3529.710269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3529.710269 # Seafloor depth: -3579.710269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.096979 meters # Minimum depth: 3588.351361 meters looking forward 0.000000 meters along route # Maximum depth: 3588.351361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3538.351361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065619; longitude = -123.233265; captureRadius = 10; duration = 200; initialDepth = 3547.871642; finalDepth = 3538.351361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.351361 # Seafloor depth: -3588.351361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.096966 meters # Minimum depth: 3597.871642 meters looking forward 0.000000 meters along route # Maximum depth: 3597.871642 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3547.871642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064717; longitude = -123.233210; captureRadius = 10; duration = 200; initialDepth = 3553.108936; finalDepth = 3547.871642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3547.871642 # Seafloor depth: -3597.871642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.096954 meters # Minimum depth: 3603.108936 meters looking forward 0.000000 meters along route # Maximum depth: 3603.108936 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3553.108936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063816; longitude = -123.233155; captureRadius = 10; duration = 200; initialDepth = 3554.808571; finalDepth = 3553.108936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3553.108936 # Seafloor depth: -3603.108936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.096942 meters # Minimum depth: 3604.808571 meters looking forward 0.000000 meters along route # Maximum depth: 3604.808571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3554.808571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062915; longitude = -123.233100; captureRadius = 10; duration = 200; initialDepth = 3561.164528; finalDepth = 3554.808571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3554.808571 # Seafloor depth: -3604.808571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 118.734255 meters # Minimum depth: 3611.164528 meters looking forward 0.000000 meters along route # Maximum depth: 3611.164528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3561.164528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062013; longitude = -123.233045; captureRadius = 10; duration = 237; initialDepth = 3565.209595; finalDepth = 3561.164528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3561.164528 # Seafloor depth: -3611.164528 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 150.041780 meters # Minimum depth: 3615.209595 meters looking forward 0.000000 meters along route # Maximum depth: 3615.209595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3565.209595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.060944; longitude = -123.232980; captureRadius = 10; duration = 300; # abortOnTimeout = True; initialDepth = 3550.917297; finalDepth = 3565.209595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3565.209595 # Seafloor depth: -3615.209595 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 111.293786 meters # Minimum depth: 3600.917297 meters looking forward 0.000000 meters along route # Maximum depth: 3600.917297 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3550.917297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.061011; longitude = -123.231316; captureRadius = 10; duration = 222; # abortOnTimeout = True; initialDepth = 3543.166044; finalDepth = 3550.917297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3550.917297 # Seafloor depth: -3600.917297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.096943 meters # Minimum depth: 3593.166044 meters looking forward 0.000000 meters along route # Maximum depth: 3593.166044 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3543.166044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062013; longitude = -123.231377; captureRadius = 10; duration = 200; initialDepth = 3536.102048; finalDepth = 3543.166044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3543.166044 # Seafloor depth: -3593.166044 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.096956 meters # Minimum depth: 3586.102048 meters looking forward 0.000000 meters along route # Maximum depth: 3586.102048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3536.102048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.062915; longitude = -123.231432; captureRadius = 10; duration = 200; initialDepth = 3532.630572; finalDepth = 3536.102048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3536.102048 # Seafloor depth: -3586.102048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.096968 meters # Minimum depth: 3582.630572 meters looking forward 0.000000 meters along route # Maximum depth: 3582.630572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3532.630572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.063816; longitude = -123.231487; captureRadius = 10; duration = 200; initialDepth = 3527.334817; finalDepth = 3532.630572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3532.630572 # Seafloor depth: -3582.630572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.096981 meters # Minimum depth: 3577.334817 meters looking forward 0.000000 meters along route # Maximum depth: 3577.334817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3527.334817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064717; longitude = -123.231542; captureRadius = 10; duration = 200; initialDepth = 3522.235234; finalDepth = 3527.334817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3527.334817 # Seafloor depth: -3577.334817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.096993 meters # Minimum depth: 3572.235234 meters looking forward 0.000000 meters along route # Maximum depth: 3572.235234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3522.235234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065619; longitude = -123.231597; captureRadius = 10; duration = 200; initialDepth = 3520.536634; finalDepth = 3522.235234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3522.235234 # Seafloor depth: -3572.235234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097006 meters # Minimum depth: 3570.536634 meters looking forward 0.000000 meters along route # Maximum depth: 3570.536634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.536634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066520; longitude = -123.231651; captureRadius = 10; duration = 200; initialDepth = 3519.421146; finalDepth = 3520.536634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3520.536634 # Seafloor depth: -3570.536634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097019 meters # Minimum depth: 3569.421146 meters looking forward 0.000000 meters along route # Maximum depth: 3569.421146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.421146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067421; longitude = -123.231706; captureRadius = 10; duration = 200; initialDepth = 3518.242479; finalDepth = 3519.421146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.421146 # Seafloor depth: -3569.421146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097030 meters # Minimum depth: 3568.242479 meters looking forward 0.000000 meters along route # Maximum depth: 3568.242479 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3518.242479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068323; longitude = -123.231761; captureRadius = 10; duration = 200; initialDepth = 3517.831670; finalDepth = 3518.242479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3518.242479 # Seafloor depth: -3568.242479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097044 meters # Minimum depth: 3567.831670 meters looking forward 0.000000 meters along route # Maximum depth: 3567.831670 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3517.831670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069224; longitude = -123.231816; captureRadius = 10; duration = 200; initialDepth = 3517.111457; finalDepth = 3517.831670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3517.83167 # Seafloor depth: -3567.831670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097056 meters # Minimum depth: 3567.111457 meters looking forward 0.000000 meters along route # Maximum depth: 3567.111457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3517.111457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070125; longitude = -123.231871; captureRadius = 10; duration = 200; initialDepth = 3516.294350; finalDepth = 3517.111457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3517.111457 # Seafloor depth: -3567.111457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097068 meters # Minimum depth: 3566.294350 meters looking forward 0.000000 meters along route # Maximum depth: 3566.294350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3516.294350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071027; longitude = -123.231926; captureRadius = 10; duration = 200; initialDepth = 3514.644173; finalDepth = 3516.294350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3516.29435 # Seafloor depth: -3566.294350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097081 meters # Minimum depth: 3564.644173 meters looking forward 0.000000 meters along route # Maximum depth: 3564.644173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3514.644173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071928; longitude = -123.231981; captureRadius = 10; duration = 200; initialDepth = 3511.804941; finalDepth = 3514.644173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3514.644173 # Seafloor depth: -3564.644173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097093 meters # Minimum depth: 3561.804941 meters looking forward 0.000000 meters along route # Maximum depth: 3561.804941 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3511.804941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072829; longitude = -123.232036; captureRadius = 10; duration = 200; initialDepth = 3509.417838; finalDepth = 3511.804941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3511.804941 # Seafloor depth: -3561.804941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097106 meters # Minimum depth: 3559.417838 meters looking forward 0.000000 meters along route # Maximum depth: 3559.417838 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.417838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073731; longitude = -123.232091; captureRadius = 10; duration = 200; initialDepth = 3507.052271; finalDepth = 3509.417838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.417838 # Seafloor depth: -3559.417838 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097119 meters # Minimum depth: 3557.052271 meters looking forward 0.000000 meters along route # Maximum depth: 3557.052271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.052271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.074632; longitude = -123.232145; captureRadius = 10; duration = 200; initialDepth = 3503.992667; finalDepth = 3507.052271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.052271 # Seafloor depth: -3557.052271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097131 meters # Minimum depth: 3553.992667 meters looking forward 0.000000 meters along route # Maximum depth: 3553.992667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.992667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075533; longitude = -123.232200; captureRadius = 10; duration = 200; initialDepth = 3501.461768; finalDepth = 3503.992667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.992667 # Seafloor depth: -3553.992667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097143 meters # Minimum depth: 3551.461768 meters looking forward 0.000000 meters along route # Maximum depth: 3551.461768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.461768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076435; longitude = -123.232255; captureRadius = 10; duration = 200; initialDepth = 3499.726808; finalDepth = 3501.461768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.461768 # Seafloor depth: -3551.461768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097156 meters # Minimum depth: 3549.726808 meters looking forward 0.000000 meters along route # Maximum depth: 3549.726808 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.726808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077336; longitude = -123.232310; captureRadius = 10; duration = 200; initialDepth = 3497.517155; finalDepth = 3499.726808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.726808 # Seafloor depth: -3549.726808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097169 meters # Minimum depth: 3547.517155 meters looking forward 0.000000 meters along route # Maximum depth: 3547.517155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.517155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078238; longitude = -123.232365; captureRadius = 10; duration = 200; initialDepth = 3497.909432; finalDepth = 3497.517155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.517155 # Seafloor depth: -3547.517155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097181 meters # Minimum depth: 3547.909432 meters looking forward 0.000000 meters along route # Maximum depth: 3547.909432 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.909432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079139; longitude = -123.232420; captureRadius = 10; duration = 200; initialDepth = 3497.735622; finalDepth = 3497.909432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.909432 # Seafloor depth: -3547.909432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097193 meters # Minimum depth: 3547.735622 meters looking forward 0.000000 meters along route # Maximum depth: 3547.735622 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.735622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080040; longitude = -123.232475; captureRadius = 10; duration = 200; initialDepth = 3499.986201; finalDepth = 3497.735622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.735622 # Seafloor depth: -3547.735622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097206 meters # Minimum depth: 3549.986201 meters looking forward 0.000000 meters along route # Maximum depth: 3549.986201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.986201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080942; longitude = -123.232530; captureRadius = 10; duration = 200; initialDepth = 3498.243460; finalDepth = 3499.986201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.986201 # Seafloor depth: -3549.986201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097218 meters # Minimum depth: 3548.243460 meters looking forward 0.000000 meters along route # Maximum depth: 3548.243460 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.243460 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081843; longitude = -123.232584; captureRadius = 10; duration = 200; initialDepth = 3499.230636; finalDepth = 3498.243460; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.24346 # Seafloor depth: -3548.243460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097231 meters # Minimum depth: 3549.230636 meters looking forward 0.000000 meters along route # Maximum depth: 3549.230636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.230636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082744; longitude = -123.232639; captureRadius = 10; duration = 200; initialDepth = 3497.278340; finalDepth = 3499.230636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.230636 # Seafloor depth: -3549.230636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097244 meters # Minimum depth: 3547.278340 meters looking forward 0.000000 meters along route # Maximum depth: 3547.278340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.278340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083646; longitude = -123.232694; captureRadius = 10; duration = 200; initialDepth = 3498.385649; finalDepth = 3497.278340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.27834 # Seafloor depth: -3547.278340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.097256 meters # Minimum depth: 3548.385649 meters looking forward 0.000000 meters along route # Maximum depth: 3548.385649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.385649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084547; longitude = -123.232749; captureRadius = 10; duration = 200; initialDepth = 3498.895038; finalDepth = 3498.385649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.385649 # Seafloor depth: -3548.385649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 118.563150 meters # Minimum depth: 3548.895038 meters looking forward 0.000000 meters along route # Maximum depth: 3548.895038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.895038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085448; longitude = -123.232804; captureRadius = 10; duration = 237; initialDepth = 3499.983948; finalDepth = 3498.895038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.895038 # Seafloor depth: -3548.895038 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 140.951306 meters # Minimum depth: 3549.983948 meters looking forward 0.000000 meters along route # Maximum depth: 3549.983948 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.983948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.086516; longitude = -123.232869; captureRadius = 10; duration = 281; # abortOnTimeout = True; initialDepth = 3498.042317; finalDepth = 3499.983948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.983948 # Seafloor depth: -3549.983948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.655549 meters # Minimum depth: 3548.042317 meters looking forward 0.000000 meters along route # Maximum depth: 3548.042317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.042317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085649; longitude = -123.231724; captureRadius = 10; duration = 205; initialDepth = 3498.004829; finalDepth = 3498.042317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.042317 # Seafloor depth: -3548.042317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.655979 meters # Minimum depth: 3548.004829 meters looking forward 0.000000 meters along route # Maximum depth: 3548.004829 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.004829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.085018; longitude = -123.230891; captureRadius = 10; duration = 205; initialDepth = 3493.732090; finalDepth = 3498.004829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.004829 # Seafloor depth: -3548.004829 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.656408 meters # Minimum depth: 3543.732090 meters looking forward 0.000000 meters along route # Maximum depth: 3543.732090 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3493.732090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.084386; longitude = -123.230057; captureRadius = 10; duration = 205; initialDepth = 3496.001347; finalDepth = 3493.732090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3493.73209 # Seafloor depth: -3543.732090 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.656838 meters # Minimum depth: 3546.001347 meters looking forward 0.000000 meters along route # Maximum depth: 3546.001347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.001347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083755; longitude = -123.229223; captureRadius = 10; duration = 205; initialDepth = 3493.877566; finalDepth = 3496.001347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.001347 # Seafloor depth: -3546.001347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.657268 meters # Minimum depth: 3543.877566 meters looking forward 0.000000 meters along route # Maximum depth: 3543.877566 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3493.877566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.083123; longitude = -123.228390; captureRadius = 10; duration = 205; initialDepth = 3493.022497; finalDepth = 3493.877566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3493.877566 # Seafloor depth: -3543.877566 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.657698 meters # Minimum depth: 3543.022497 meters looking forward 0.000000 meters along route # Maximum depth: 3543.022497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3493.022497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.082492; longitude = -123.227556; captureRadius = 10; duration = 205; initialDepth = 3501.390393; finalDepth = 3493.022497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3493.022497 # Seafloor depth: -3543.022497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.658128 meters # Minimum depth: 3551.390393 meters looking forward 0.000000 meters along route # Maximum depth: 3551.390393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.390393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081861; longitude = -123.226722; captureRadius = 10; duration = 205; initialDepth = 3495.882669; finalDepth = 3501.390393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.390393 # Seafloor depth: -3551.390393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.658558 meters # Minimum depth: 3545.882669 meters looking forward 0.000000 meters along route # Maximum depth: 3545.882669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.882669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.081229; longitude = -123.225888; captureRadius = 10; duration = 205; initialDepth = 3497.862627; finalDepth = 3495.882669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.882669 # Seafloor depth: -3545.882669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 113.633756 meters # Minimum depth: 3547.862627 meters looking forward 0.000000 meters along route # Maximum depth: 3547.862627 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.862627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.080598; longitude = -123.225055; captureRadius = 10; duration = 227; initialDepth = 3501.622925; finalDepth = 3497.862627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.862627 # Seafloor depth: -3547.862627 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 158.915973 meters # Minimum depth: 3551.622925 meters looking forward 0.000000 meters along route # Maximum depth: 3551.622925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.622925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079899; longitude = -123.224132; captureRadius = 10; duration = 317; # abortOnTimeout = True; initialDepth = 3501.700729; finalDepth = 3501.622925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.622925 # Seafloor depth: -3551.622925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.568511 meters # Minimum depth: 3551.700729 meters looking forward 0.000000 meters along route # Maximum depth: 3551.700729 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.700729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079759; longitude = -123.225888; captureRadius = 10; duration = 201; initialDepth = 3500.308592; finalDepth = 3501.700729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.700729 # Seafloor depth: -3551.700729 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.568627 meters # Minimum depth: 3550.308592 meters looking forward 0.000000 meters along route # Maximum depth: 3550.308592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.308592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079670; longitude = -123.227000; captureRadius = 10; duration = 201; initialDepth = 3496.552218; finalDepth = 3500.308592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.308592 # Seafloor depth: -3550.308592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.568745 meters # Minimum depth: 3546.552218 meters looking forward 0.000000 meters along route # Maximum depth: 3546.552218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.552218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079581; longitude = -123.228112; captureRadius = 10; duration = 201; initialDepth = 3495.847175; finalDepth = 3496.552218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.552218 # Seafloor depth: -3546.552218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.568863 meters # Minimum depth: 3545.847175 meters looking forward 0.000000 meters along route # Maximum depth: 3545.847175 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.847175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079492; longitude = -123.229223; captureRadius = 10; duration = 201; initialDepth = 3497.328888; finalDepth = 3495.847175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.847175 # Seafloor depth: -3545.847175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.568979 meters # Minimum depth: 3547.328888 meters looking forward 0.000000 meters along route # Maximum depth: 3547.328888 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.328888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079403; longitude = -123.230335; captureRadius = 10; duration = 201; initialDepth = 3497.633656; finalDepth = 3497.328888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.328888 # Seafloor depth: -3547.328888 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569097 meters # Minimum depth: 3547.633656 meters looking forward 0.000000 meters along route # Maximum depth: 3547.633656 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.633656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079314; longitude = -123.231446; captureRadius = 10; duration = 201; initialDepth = 3498.337448; finalDepth = 3497.633656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.633656 # Seafloor depth: -3547.633656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569214 meters # Minimum depth: 3548.337448 meters looking forward 0.000000 meters along route # Maximum depth: 3548.337448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.337448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079225; longitude = -123.232558; captureRadius = 10; duration = 201; initialDepth = 3498.378652; finalDepth = 3498.337448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.337448 # Seafloor depth: -3548.337448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569331 meters # Minimum depth: 3548.378652 meters looking forward 0.000000 meters along route # Maximum depth: 3548.378652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.378652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079136; longitude = -123.233670; captureRadius = 10; duration = 201; initialDepth = 3503.748484; finalDepth = 3498.378652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.378652 # Seafloor depth: -3548.378652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569449 meters # Minimum depth: 3553.748484 meters looking forward 0.000000 meters along route # Maximum depth: 3553.748484 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.748484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.079047; longitude = -123.234781; captureRadius = 10; duration = 201; initialDepth = 3516.900160; finalDepth = 3503.748484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.748484 # Seafloor depth: -3553.748484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569566 meters # Minimum depth: 3566.900160 meters looking forward 0.000000 meters along route # Maximum depth: 3566.900160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3516.900160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078958; longitude = -123.235893; captureRadius = 10; duration = 201; initialDepth = 3516.394426; finalDepth = 3516.900160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3516.90016 # Seafloor depth: -3566.900160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569684 meters # Minimum depth: 3566.394426 meters looking forward 0.000000 meters along route # Maximum depth: 3566.394426 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3516.394426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078869; longitude = -123.237004; captureRadius = 10; duration = 201; initialDepth = 3519.001491; finalDepth = 3516.394426; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3516.394426 # Seafloor depth: -3566.394426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569801 meters # Minimum depth: 3569.001491 meters looking forward 0.000000 meters along route # Maximum depth: 3569.001491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.001491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078780; longitude = -123.238116; captureRadius = 10; duration = 201; initialDepth = 3546.722677; finalDepth = 3519.001491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.001491 # Seafloor depth: -3569.001491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.569918 meters # Minimum depth: 3596.722677 meters looking forward 0.000000 meters along route # Maximum depth: 3596.722677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3546.722677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078692; longitude = -123.239227; captureRadius = 10; duration = 201; initialDepth = 3550.944881; finalDepth = 3546.722677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.722677 # Seafloor depth: -3596.722677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570036 meters # Minimum depth: 3600.944881 meters looking forward 0.000000 meters along route # Maximum depth: 3600.944881 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3550.944881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078603; longitude = -123.240339; captureRadius = 10; duration = 201; initialDepth = 3564.466197; finalDepth = 3550.944881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3550.944881 # Seafloor depth: -3600.944881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570154 meters # Minimum depth: 3614.466197 meters looking forward 0.000000 meters along route # Maximum depth: 3614.466197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3564.466197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078514; longitude = -123.241451; captureRadius = 10; duration = 201; initialDepth = 3574.237822; finalDepth = 3564.466197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3564.466197 # Seafloor depth: -3614.466197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570271 meters # Minimum depth: 3624.237822 meters looking forward 0.000000 meters along route # Maximum depth: 3624.237822 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3574.237822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078425; longitude = -123.242562; captureRadius = 10; duration = 201; initialDepth = 3587.261748; finalDepth = 3574.237822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.237822 # Seafloor depth: -3624.237822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570388 meters # Minimum depth: 3637.261748 meters looking forward 0.000000 meters along route # Maximum depth: 3637.261748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.261748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078336; longitude = -123.243674; captureRadius = 10; duration = 201; initialDepth = 3601.956023; finalDepth = 3587.261748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.261748 # Seafloor depth: -3637.261748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570507 meters # Minimum depth: 3651.956023 meters looking forward 0.000000 meters along route # Maximum depth: 3651.956023 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.956023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078247; longitude = -123.244785; captureRadius = 10; duration = 201; initialDepth = 3600.181245; finalDepth = 3601.956023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.956023 # Seafloor depth: -3651.956023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570623 meters # Minimum depth: 3650.181245 meters looking forward 0.000000 meters along route # Maximum depth: 3650.181245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3600.181245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078158; longitude = -123.245897; captureRadius = 10; duration = 201; initialDepth = 3601.820043; finalDepth = 3600.181245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3600.181245 # Seafloor depth: -3650.181245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570742 meters # Minimum depth: 3651.820043 meters looking forward 0.000000 meters along route # Maximum depth: 3651.820043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.820043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.078069; longitude = -123.247009; captureRadius = 10; duration = 201; initialDepth = 3612.198104; finalDepth = 3601.820043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.820043 # Seafloor depth: -3651.820043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570859 meters # Minimum depth: 3662.198104 meters looking forward 0.000000 meters along route # Maximum depth: 3662.198104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.198104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077980; longitude = -123.248120; captureRadius = 10; duration = 201; initialDepth = 3619.277311; finalDepth = 3612.198104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.198104 # Seafloor depth: -3662.198104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.570977 meters # Minimum depth: 3669.277311 meters looking forward 0.000000 meters along route # Maximum depth: 3669.277311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3619.277311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077891; longitude = -123.249232; captureRadius = 10; duration = 201; initialDepth = 3627.779060; finalDepth = 3619.277311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3619.277311 # Seafloor depth: -3669.277311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571094 meters # Minimum depth: 3677.779060 meters looking forward 0.000000 meters along route # Maximum depth: 3677.779060 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.779060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077802; longitude = -123.250343; captureRadius = 10; duration = 201; initialDepth = 3629.779796; finalDepth = 3627.779060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.77906 # Seafloor depth: -3677.779060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571212 meters # Minimum depth: 3679.779796 meters looking forward 0.000000 meters along route # Maximum depth: 3679.779796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3629.779796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077713; longitude = -123.251455; captureRadius = 10; duration = 201; initialDepth = 3630.423016; finalDepth = 3629.779796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3629.779796 # Seafloor depth: -3679.779796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571330 meters # Minimum depth: 3680.423016 meters looking forward 0.000000 meters along route # Maximum depth: 3680.423016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3630.423016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077625; longitude = -123.252566; captureRadius = 10; duration = 201; initialDepth = 3621.308583; finalDepth = 3630.423016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.423016 # Seafloor depth: -3680.423016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571448 meters # Minimum depth: 3671.308583 meters looking forward 0.000000 meters along route # Maximum depth: 3671.308583 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.308583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077536; longitude = -123.253678; captureRadius = 10; duration = 201; initialDepth = 3618.687488; finalDepth = 3621.308583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.308583 # Seafloor depth: -3671.308583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571566 meters # Minimum depth: 3668.687488 meters looking forward 0.000000 meters along route # Maximum depth: 3668.687488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3618.687488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077447; longitude = -123.254790; captureRadius = 10; duration = 201; initialDepth = 3572.507590; finalDepth = 3618.687488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3618.687488 # Seafloor depth: -3668.687488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571683 meters # Minimum depth: 3622.507590 meters looking forward 0.000000 meters along route # Maximum depth: 3622.507590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3572.507590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077358; longitude = -123.255901; captureRadius = 10; duration = 201; initialDepth = 3533.208724; finalDepth = 3572.507590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3572.50759 # Seafloor depth: -3622.507590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571801 meters # Minimum depth: 3583.208724 meters looking forward 0.000000 meters along route # Maximum depth: 3583.208724 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3533.208724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077269; longitude = -123.257013; captureRadius = 10; duration = 201; initialDepth = 3505.089221; finalDepth = 3533.208724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3533.208724 # Seafloor depth: -3583.208724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.571919 meters # Minimum depth: 3555.089221 meters looking forward 0.000000 meters along route # Maximum depth: 3555.089221 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3505.089221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077180; longitude = -123.258124; captureRadius = 10; duration = 201; initialDepth = 3494.841917; finalDepth = 3505.089221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3505.089221 # Seafloor depth: -3555.089221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572037 meters # Minimum depth: 3544.841917 meters looking forward 0.000000 meters along route # Maximum depth: 3544.841917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.841917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077091; longitude = -123.259236; captureRadius = 10; duration = 201; initialDepth = 3484.947652; finalDepth = 3494.841917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.841917 # Seafloor depth: -3544.841917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572155 meters # Minimum depth: 3534.947652 meters looking forward 0.000000 meters along route # Maximum depth: 3534.947652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3484.947652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.077002; longitude = -123.260348; captureRadius = 10; duration = 201; initialDepth = 3475.696371; finalDepth = 3484.947652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3484.947652 # Seafloor depth: -3534.947652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572273 meters # Minimum depth: 3525.696371 meters looking forward 0.000000 meters along route # Maximum depth: 3525.696371 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3475.696371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076913; longitude = -123.261459; captureRadius = 10; duration = 201; initialDepth = 3467.400144; finalDepth = 3475.696371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3475.696371 # Seafloor depth: -3525.696371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572391 meters # Minimum depth: 3517.400144 meters looking forward 0.000000 meters along route # Maximum depth: 3517.400144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3467.400144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076824; longitude = -123.262571; captureRadius = 10; duration = 201; initialDepth = 3458.786910; finalDepth = 3467.400144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3467.400144 # Seafloor depth: -3517.400144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572509 meters # Minimum depth: 3508.786910 meters looking forward 0.000000 meters along route # Maximum depth: 3508.786910 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.786910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076735; longitude = -123.263682; captureRadius = 10; duration = 201; initialDepth = 3444.231734; finalDepth = 3458.786910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3458.78691 # Seafloor depth: -3508.786910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572627 meters # Minimum depth: 3494.231734 meters looking forward 0.000000 meters along route # Maximum depth: 3494.231734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3444.231734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076647; longitude = -123.264794; captureRadius = 10; duration = 201; initialDepth = 3434.442892; finalDepth = 3444.231734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3444.231734 # Seafloor depth: -3494.231734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572745 meters # Minimum depth: 3484.442892 meters looking forward 0.000000 meters along route # Maximum depth: 3484.442892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.442892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076558; longitude = -123.265905; captureRadius = 10; duration = 201; initialDepth = 3434.440180; finalDepth = 3434.442892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3434.442892 # Seafloor depth: -3484.442892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572863 meters # Minimum depth: 3484.440180 meters looking forward 0.000000 meters along route # Maximum depth: 3484.440180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.440180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076469; longitude = -123.267017; captureRadius = 10; duration = 201; initialDepth = 3440.233497; finalDepth = 3434.440180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3434.44018 # Seafloor depth: -3484.440180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.572981 meters # Minimum depth: 3490.233497 meters looking forward 0.000000 meters along route # Maximum depth: 3490.233497 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3440.233497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076380; longitude = -123.268129; captureRadius = 10; duration = 201; initialDepth = 3437.174292; finalDepth = 3440.233497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3440.233497 # Seafloor depth: -3490.233497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573099 meters # Minimum depth: 3487.174292 meters looking forward 0.000000 meters along route # Maximum depth: 3487.174292 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3437.174292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076291; longitude = -123.269240; captureRadius = 10; duration = 201; initialDepth = 3432.208606; finalDepth = 3437.174292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3437.174292 # Seafloor depth: -3487.174292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573218 meters # Minimum depth: 3482.208606 meters looking forward 0.000000 meters along route # Maximum depth: 3482.208606 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.208606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076202; longitude = -123.270352; captureRadius = 10; duration = 201; initialDepth = 3435.351561; finalDepth = 3432.208606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3432.208606 # Seafloor depth: -3482.208606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573335 meters # Minimum depth: 3485.351561 meters looking forward 0.000000 meters along route # Maximum depth: 3485.351561 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3435.351561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076113; longitude = -123.271463; captureRadius = 10; duration = 201; initialDepth = 3436.319393; finalDepth = 3435.351561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3435.351561 # Seafloor depth: -3485.351561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573454 meters # Minimum depth: 3486.319393 meters looking forward 0.000000 meters along route # Maximum depth: 3486.319393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3436.319393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.076024; longitude = -123.272575; captureRadius = 10; duration = 201; initialDepth = 3435.479457; finalDepth = 3436.319393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3436.319393 # Seafloor depth: -3486.319393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573572 meters # Minimum depth: 3485.479457 meters looking forward 0.000000 meters along route # Maximum depth: 3485.479457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3435.479457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075935; longitude = -123.273687; captureRadius = 10; duration = 201; initialDepth = 3434.451123; finalDepth = 3435.479457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3435.479457 # Seafloor depth: -3485.479457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573691 meters # Minimum depth: 3484.451123 meters looking forward 0.000000 meters along route # Maximum depth: 3484.451123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.451123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075846; longitude = -123.274798; captureRadius = 10; duration = 201; initialDepth = 3432.916110; finalDepth = 3434.451123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3434.451123 # Seafloor depth: -3484.451123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573808 meters # Minimum depth: 3482.916110 meters looking forward 0.000000 meters along route # Maximum depth: 3482.916110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.916110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075757; longitude = -123.275910; captureRadius = 10; duration = 201; initialDepth = 3432.255275; finalDepth = 3432.916110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3432.91611 # Seafloor depth: -3482.916110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.573927 meters # Minimum depth: 3482.255275 meters looking forward 0.000000 meters along route # Maximum depth: 3482.255275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.255275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075668; longitude = -123.277021; captureRadius = 10; duration = 201; initialDepth = 3432.215003; finalDepth = 3432.255275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3432.255275 # Seafloor depth: -3482.255275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.222641 meters # Minimum depth: 3482.215003 meters looking forward 0.000000 meters along route # Maximum depth: 3482.215003 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3432.215003 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075580; longitude = -123.278133; captureRadius = 10; duration = 218; initialDepth = 3428.020081; finalDepth = 3432.215003; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3432.215003 # Seafloor depth: -3482.215003 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 182.741040 meters # Minimum depth: 3478.020081 meters looking forward 0.000000 meters along route # Maximum depth: 3478.020081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3428.020081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.075483; longitude = -123.279340; captureRadius = 10; duration = 365; # abortOnTimeout = True; initialDepth = 3431.710877; finalDepth = 3428.020081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3428.020081 # Seafloor depth: -3478.020081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.875897 meters # Minimum depth: 3481.710877 meters looking forward 0.000000 meters along route # Maximum depth: 3481.710877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3431.710877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073956; longitude = -123.278578; captureRadius = 10; duration = 215; initialDepth = 3434.057526; finalDepth = 3431.710877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3431.710877 # Seafloor depth: -3481.710877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 107.876053 meters # Minimum depth: 3484.057526 meters looking forward 0.000000 meters along route # Maximum depth: 3484.057526 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3434.057526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073055; longitude = -123.278128; captureRadius = 10; duration = 215; initialDepth = 3433.406903; finalDepth = 3434.057526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3434.057526 # Seafloor depth: -3484.057526 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 108.480672 meters # Minimum depth: 3483.406903 meters looking forward 0.000000 meters along route # Maximum depth: 3483.406903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3433.406903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072153; longitude = -123.277678; captureRadius = 10; duration = 216; initialDepth = 3440.229980; finalDepth = 3433.406903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3433.406903 # Seafloor depth: -3483.406903 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 93.534305 meters # Minimum depth: 3490.229980 meters looking forward 0.000000 meters along route # Maximum depth: 3490.229980 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3440.229980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071247; longitude = -123.277225; captureRadius = 10; duration = 187; # abortOnTimeout = True; initialDepth = 3443.868052; finalDepth = 3440.229980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3440.22998 # Seafloor depth: -3490.229980 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.219072 meters # Minimum depth: 3493.868052 meters looking forward 0.000000 meters along route # Maximum depth: 3493.868052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3443.868052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071289; longitude = -123.276188; captureRadius = 10; duration = 200; initialDepth = 3447.626382; finalDepth = 3443.868052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3443.868052 # Seafloor depth: -3493.868052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.219009 meters # Minimum depth: 3497.626382 meters looking forward 0.000000 meters along route # Maximum depth: 3497.626382 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.626382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071334; longitude = -123.275076; captureRadius = 10; duration = 200; initialDepth = 3450.435780; finalDepth = 3447.626382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3447.626382 # Seafloor depth: -3497.626382 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218946 meters # Minimum depth: 3500.435780 meters looking forward 0.000000 meters along route # Maximum depth: 3500.435780 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3450.435780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071379; longitude = -123.273964; captureRadius = 10; duration = 200; initialDepth = 3454.323227; finalDepth = 3450.435780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3450.43578 # Seafloor depth: -3500.435780 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218883 meters # Minimum depth: 3504.323227 meters looking forward 0.000000 meters along route # Maximum depth: 3504.323227 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3454.323227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071424; longitude = -123.272853; captureRadius = 10; duration = 200; initialDepth = 3458.785120; finalDepth = 3454.323227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3454.323227 # Seafloor depth: -3504.323227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218820 meters # Minimum depth: 3508.785120 meters looking forward 0.000000 meters along route # Maximum depth: 3508.785120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3458.785120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071469; longitude = -123.271741; captureRadius = 10; duration = 200; initialDepth = 3462.729284; finalDepth = 3458.785120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3458.78512 # Seafloor depth: -3508.785120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218757 meters # Minimum depth: 3512.729284 meters looking forward 0.000000 meters along route # Maximum depth: 3512.729284 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.729284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071514; longitude = -123.270630; captureRadius = 10; duration = 200; initialDepth = 3463.845638; finalDepth = 3462.729284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3462.729284 # Seafloor depth: -3512.729284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218694 meters # Minimum depth: 3513.845638 meters looking forward 0.000000 meters along route # Maximum depth: 3513.845638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3463.845638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071559; longitude = -123.269518; captureRadius = 10; duration = 200; initialDepth = 3460.280831; finalDepth = 3463.845638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3463.845638 # Seafloor depth: -3513.845638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218632 meters # Minimum depth: 3510.280831 meters looking forward 0.000000 meters along route # Maximum depth: 3510.280831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3460.280831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071604; longitude = -123.268406; captureRadius = 10; duration = 200; initialDepth = 3454.590933; finalDepth = 3460.280831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3460.280831 # Seafloor depth: -3510.280831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218568 meters # Minimum depth: 3504.590933 meters looking forward 0.000000 meters along route # Maximum depth: 3504.590933 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3454.590933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071649; longitude = -123.267295; captureRadius = 10; duration = 200; initialDepth = 3448.439204; finalDepth = 3454.590933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3454.590933 # Seafloor depth: -3504.590933 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218505 meters # Minimum depth: 3498.439204 meters looking forward 0.000000 meters along route # Maximum depth: 3498.439204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3448.439204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071694; longitude = -123.266183; captureRadius = 10; duration = 200; initialDepth = 3447.424704; finalDepth = 3448.439204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3448.439204 # Seafloor depth: -3498.439204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218443 meters # Minimum depth: 3497.424704 meters looking forward 0.000000 meters along route # Maximum depth: 3497.424704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.424704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071739; longitude = -123.265072; captureRadius = 10; duration = 200; initialDepth = 3447.542048; finalDepth = 3447.424704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3447.424704 # Seafloor depth: -3497.424704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218380 meters # Minimum depth: 3497.542048 meters looking forward 0.000000 meters along route # Maximum depth: 3497.542048 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3447.542048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071784; longitude = -123.263960; captureRadius = 10; duration = 200; initialDepth = 3454.459098; finalDepth = 3447.542048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3447.542048 # Seafloor depth: -3497.542048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218317 meters # Minimum depth: 3504.459098 meters looking forward 0.000000 meters along route # Maximum depth: 3504.459098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3454.459098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071829; longitude = -123.262849; captureRadius = 10; duration = 200; initialDepth = 3462.749864; finalDepth = 3454.459098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3454.459098 # Seafloor depth: -3504.459098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218254 meters # Minimum depth: 3512.749864 meters looking forward 0.000000 meters along route # Maximum depth: 3512.749864 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3462.749864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071874; longitude = -123.261737; captureRadius = 10; duration = 200; initialDepth = 3469.742350; finalDepth = 3462.749864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3462.749864 # Seafloor depth: -3512.749864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218191 meters # Minimum depth: 3519.742350 meters looking forward 0.000000 meters along route # Maximum depth: 3519.742350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3469.742350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071919; longitude = -123.260625; captureRadius = 10; duration = 200; initialDepth = 3481.405052; finalDepth = 3469.742350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3469.74235 # Seafloor depth: -3519.742350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218129 meters # Minimum depth: 3531.405052 meters looking forward 0.000000 meters along route # Maximum depth: 3531.405052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3481.405052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071964; longitude = -123.259514; captureRadius = 10; duration = 200; initialDepth = 3496.638247; finalDepth = 3481.405052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3481.405052 # Seafloor depth: -3531.405052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218066 meters # Minimum depth: 3546.638247 meters looking forward 0.000000 meters along route # Maximum depth: 3546.638247 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.638247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072009; longitude = -123.258402; captureRadius = 10; duration = 200; initialDepth = 3539.309528; finalDepth = 3496.638247; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.638247 # Seafloor depth: -3546.638247 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.218003 meters # Minimum depth: 3589.309528 meters looking forward 0.000000 meters along route # Maximum depth: 3589.309528 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3539.309528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072054; longitude = -123.257291; captureRadius = 10; duration = 200; initialDepth = 3578.264238; finalDepth = 3539.309528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3539.309528 # Seafloor depth: -3589.309528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217941 meters # Minimum depth: 3628.264238 meters looking forward 0.000000 meters along route # Maximum depth: 3628.264238 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3578.264238 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072099; longitude = -123.256179; captureRadius = 10; duration = 200; initialDepth = 3611.563870; finalDepth = 3578.264238; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3578.264238 # Seafloor depth: -3628.264238 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217878 meters # Minimum depth: 3661.563870 meters looking forward 0.000000 meters along route # Maximum depth: 3661.563870 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3611.563870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072144; longitude = -123.255068; captureRadius = 10; duration = 200; initialDepth = 3627.248052; finalDepth = 3611.563870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.56387 # Seafloor depth: -3661.563870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217816 meters # Minimum depth: 3677.248052 meters looking forward 0.000000 meters along route # Maximum depth: 3677.248052 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3627.248052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072189; longitude = -123.253956; captureRadius = 10; duration = 200; initialDepth = 3634.581794; finalDepth = 3627.248052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3627.248052 # Seafloor depth: -3677.248052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217753 meters # Minimum depth: 3684.581794 meters looking forward 0.000000 meters along route # Maximum depth: 3684.581794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3634.581794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072234; longitude = -123.252844; captureRadius = 10; duration = 200; initialDepth = 3630.908110; finalDepth = 3634.581794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3634.581794 # Seafloor depth: -3684.581794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217690 meters # Minimum depth: 3680.908110 meters looking forward 0.000000 meters along route # Maximum depth: 3680.908110 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3630.908110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072279; longitude = -123.251733; captureRadius = 10; duration = 200; initialDepth = 3626.734876; finalDepth = 3630.908110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3630.90811 # Seafloor depth: -3680.908110 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217628 meters # Minimum depth: 3676.734876 meters looking forward 0.000000 meters along route # Maximum depth: 3676.734876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3626.734876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072324; longitude = -123.250621; captureRadius = 10; duration = 200; initialDepth = 3617.191252; finalDepth = 3626.734876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.734876 # Seafloor depth: -3676.734876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217565 meters # Minimum depth: 3667.191252 meters looking forward 0.000000 meters along route # Maximum depth: 3667.191252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3617.191252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072369; longitude = -123.249510; captureRadius = 10; duration = 200; initialDepth = 3612.129082; finalDepth = 3617.191252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3617.191252 # Seafloor depth: -3667.191252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217503 meters # Minimum depth: 3662.129082 meters looking forward 0.000000 meters along route # Maximum depth: 3662.129082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3612.129082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072414; longitude = -123.248398; captureRadius = 10; duration = 200; initialDepth = 3607.347376; finalDepth = 3612.129082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3612.129082 # Seafloor depth: -3662.129082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217440 meters # Minimum depth: 3657.347376 meters looking forward 0.000000 meters along route # Maximum depth: 3657.347376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3607.347376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072459; longitude = -123.247286; captureRadius = 10; duration = 200; initialDepth = 3605.090643; finalDepth = 3607.347376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.347376 # Seafloor depth: -3657.347376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217378 meters # Minimum depth: 3655.090643 meters looking forward 0.000000 meters along route # Maximum depth: 3655.090643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3605.090643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072504; longitude = -123.246175; captureRadius = 10; duration = 200; initialDepth = 3603.384854; finalDepth = 3605.090643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3605.090643 # Seafloor depth: -3655.090643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217316 meters # Minimum depth: 3653.384854 meters looking forward 0.000000 meters along route # Maximum depth: 3653.384854 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3603.384854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072549; longitude = -123.245063; captureRadius = 10; duration = 200; initialDepth = 3594.318008; finalDepth = 3603.384854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.384854 # Seafloor depth: -3653.384854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217253 meters # Minimum depth: 3644.318008 meters looking forward 0.000000 meters along route # Maximum depth: 3644.318008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3594.318008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072594; longitude = -123.243952; captureRadius = 10; duration = 200; initialDepth = 3587.487731; finalDepth = 3594.318008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.318008 # Seafloor depth: -3644.318008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217191 meters # Minimum depth: 3637.487731 meters looking forward 0.000000 meters along route # Maximum depth: 3637.487731 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3587.487731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072639; longitude = -123.242840; captureRadius = 10; duration = 200; initialDepth = 3579.622269; finalDepth = 3587.487731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.487731 # Seafloor depth: -3637.487731 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217128 meters # Minimum depth: 3629.622269 meters looking forward 0.000000 meters along route # Maximum depth: 3629.622269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3579.622269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072684; longitude = -123.241729; captureRadius = 10; duration = 200; initialDepth = 3568.577690; finalDepth = 3579.622269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.622269 # Seafloor depth: -3629.622269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217066 meters # Minimum depth: 3618.577690 meters looking forward 0.000000 meters along route # Maximum depth: 3618.577690 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3568.577690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072729; longitude = -123.240617; captureRadius = 10; duration = 200; initialDepth = 3573.947839; finalDepth = 3568.577690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.57769 # Seafloor depth: -3618.577690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.217004 meters # Minimum depth: 3623.947839 meters looking forward 0.000000 meters along route # Maximum depth: 3623.947839 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3573.947839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072774; longitude = -123.239505; captureRadius = 10; duration = 200; initialDepth = 3567.536103; finalDepth = 3573.947839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3573.947839 # Seafloor depth: -3623.947839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216942 meters # Minimum depth: 3617.536103 meters looking forward 0.000000 meters along route # Maximum depth: 3617.536103 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3567.536103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072819; longitude = -123.238394; captureRadius = 10; duration = 200; initialDepth = 3550.113451; finalDepth = 3567.536103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3567.536103 # Seafloor depth: -3617.536103 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216879 meters # Minimum depth: 3600.113451 meters looking forward 0.000000 meters along route # Maximum depth: 3600.113451 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3550.113451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072864; longitude = -123.237282; captureRadius = 10; duration = 200; initialDepth = 3532.958961; finalDepth = 3550.113451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3550.113451 # Seafloor depth: -3600.113451 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216817 meters # Minimum depth: 3582.958961 meters looking forward 0.000000 meters along route # Maximum depth: 3582.958961 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3532.958961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072909; longitude = -123.236171; captureRadius = 10; duration = 200; initialDepth = 3520.192638; finalDepth = 3532.958961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3532.958961 # Seafloor depth: -3582.958961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216755 meters # Minimum depth: 3570.192638 meters looking forward 0.000000 meters along route # Maximum depth: 3570.192638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3520.192638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072954; longitude = -123.235059; captureRadius = 10; duration = 200; initialDepth = 3507.775091; finalDepth = 3520.192638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3520.192638 # Seafloor depth: -3570.192638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216693 meters # Minimum depth: 3557.775091 meters looking forward 0.000000 meters along route # Maximum depth: 3557.775091 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.775091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072999; longitude = -123.233947; captureRadius = 10; duration = 200; initialDepth = 3510.839581; finalDepth = 3507.775091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.775091 # Seafloor depth: -3557.775091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216631 meters # Minimum depth: 3560.839581 meters looking forward 0.000000 meters along route # Maximum depth: 3560.839581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3510.839581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073044; longitude = -123.232836; captureRadius = 10; duration = 200; initialDepth = 3511.153572; finalDepth = 3510.839581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.839581 # Seafloor depth: -3560.839581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216568 meters # Minimum depth: 3561.153572 meters looking forward 0.000000 meters along route # Maximum depth: 3561.153572 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3511.153572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073089; longitude = -123.231724; captureRadius = 10; duration = 200; initialDepth = 3512.405517; finalDepth = 3511.153572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3511.153572 # Seafloor depth: -3561.153572 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216507 meters # Minimum depth: 3562.405517 meters looking forward 0.000000 meters along route # Maximum depth: 3562.405517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3512.405517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073134; longitude = -123.230613; captureRadius = 10; duration = 200; initialDepth = 3507.571495; finalDepth = 3512.405517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3512.405517 # Seafloor depth: -3562.405517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216444 meters # Minimum depth: 3557.571495 meters looking forward 0.000000 meters along route # Maximum depth: 3557.571495 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.571495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073179; longitude = -123.229501; captureRadius = 10; duration = 200; initialDepth = 3504.902104; finalDepth = 3507.571495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.571495 # Seafloor depth: -3557.571495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216383 meters # Minimum depth: 3554.902104 meters looking forward 0.000000 meters along route # Maximum depth: 3554.902104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.902104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073224; longitude = -123.228390; captureRadius = 10; duration = 200; initialDepth = 3504.324421; finalDepth = 3504.902104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3504.902104 # Seafloor depth: -3554.902104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216320 meters # Minimum depth: 3554.324421 meters looking forward 0.000000 meters along route # Maximum depth: 3554.324421 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3504.324421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073269; longitude = -123.227278; captureRadius = 10; duration = 200; initialDepth = 3500.633397; finalDepth = 3504.324421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3504.324421 # Seafloor depth: -3554.324421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.216259 meters # Minimum depth: 3550.633397 meters looking forward 0.000000 meters along route # Maximum depth: 3550.633397 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.633397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073314; longitude = -123.226166; captureRadius = 10; duration = 200; initialDepth = 3500.447160; finalDepth = 3500.633397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.633397 # Seafloor depth: -3550.633397 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 113.309579 meters # Minimum depth: 3550.447160 meters looking forward 0.000000 meters along route # Maximum depth: 3550.447160 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.447160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073359; longitude = -123.225055; captureRadius = 10; duration = 226; initialDepth = 3501.106262; finalDepth = 3500.447160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.44716 # Seafloor depth: -3550.447160 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 139.466654 meters # Minimum depth: 3551.106262 meters looking forward 0.000000 meters along route # Maximum depth: 3551.106262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.106262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.073410; longitude = -123.223798; captureRadius = 10; duration = 278; # abortOnTimeout = True; initialDepth = 3502.556776; finalDepth = 3501.106262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.106262 # Seafloor depth: -3551.106262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.039074 meters # Minimum depth: 3552.556776 meters looking forward 0.000000 meters along route # Maximum depth: 3552.556776 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3502.556776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.072153; longitude = -123.223743; captureRadius = 10; duration = 200; initialDepth = 3499.420274; finalDepth = 3502.556776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3502.556776 # Seafloor depth: -3552.556776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.039060 meters # Minimum depth: 3549.420274 meters looking forward 0.000000 meters along route # Maximum depth: 3549.420274 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.420274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.071252; longitude = -123.223703; captureRadius = 10; duration = 200; initialDepth = 3497.156841; finalDepth = 3499.420274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.420274 # Seafloor depth: -3549.420274 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.039047 meters # Minimum depth: 3547.156841 meters looking forward 0.000000 meters along route # Maximum depth: 3547.156841 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.156841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.070351; longitude = -123.223663; captureRadius = 10; duration = 200; initialDepth = 3495.013555; finalDepth = 3497.156841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.156841 # Seafloor depth: -3547.156841 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.039032 meters # Minimum depth: 3545.013555 meters looking forward 0.000000 meters along route # Maximum depth: 3545.013555 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.013555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.069449; longitude = -123.223623; captureRadius = 10; duration = 200; initialDepth = 3496.876213; finalDepth = 3495.013555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.013555 # Seafloor depth: -3545.013555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.039019 meters # Minimum depth: 3546.876213 meters looking forward 0.000000 meters along route # Maximum depth: 3546.876213 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3496.876213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.068548; longitude = -123.223583; captureRadius = 10; duration = 200; initialDepth = 3498.248913; finalDepth = 3496.876213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3496.876213 # Seafloor depth: -3546.876213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.039005 meters # Minimum depth: 3548.248913 meters looking forward 0.000000 meters along route # Maximum depth: 3548.248913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.248913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.067647; longitude = -123.223544; captureRadius = 10; duration = 200; initialDepth = 3499.413721; finalDepth = 3498.248913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.248913 # Seafloor depth: -3548.248913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.475230 meters # Minimum depth: 3549.413721 meters looking forward 0.000000 meters along route # Maximum depth: 3549.413721 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3499.413721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.066745; longitude = -123.223504; captureRadius = 10; duration = 200; initialDepth = 3500.676514; finalDepth = 3499.413721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Waypoint type: 4 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3499.413721 # Seafloor depth: -3549.413721 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 93.236923 meters # Minimum depth: 3550.676514 meters looking forward 0.000000 meters along route # Maximum depth: 3550.676514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3500.676514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065840; longitude = -123.223464; captureRadius = 10; duration = 186; # abortOnTimeout = True; initialDepth = 3503.725124; finalDepth = 3500.676514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3500.676514 # Seafloor depth: -3550.676514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133747 meters # Minimum depth: 3553.725124 meters looking forward 0.000000 meters along route # Maximum depth: 3553.725124 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.725124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065819; longitude = -123.224499; captureRadius = 10; duration = 200; initialDepth = 3507.005517; finalDepth = 3503.725124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.725124 # Seafloor depth: -3553.725124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133781 meters # Minimum depth: 3557.005517 meters looking forward 0.000000 meters along route # Maximum depth: 3557.005517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.005517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065796; longitude = -123.225611; captureRadius = 10; duration = 200; initialDepth = 3511.725538; finalDepth = 3507.005517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.005517 # Seafloor depth: -3557.005517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133816 meters # Minimum depth: 3561.725538 meters looking forward 0.000000 meters along route # Maximum depth: 3561.725538 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3511.725538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065773; longitude = -123.226722; captureRadius = 10; duration = 200; initialDepth = 3516.454972; finalDepth = 3511.725538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3511.725538 # Seafloor depth: -3561.725538 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133849 meters # Minimum depth: 3566.454972 meters looking forward 0.000000 meters along route # Maximum depth: 3566.454972 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3516.454972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065750; longitude = -123.227834; captureRadius = 10; duration = 200; initialDepth = 3521.467131; finalDepth = 3516.454972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3516.454972 # Seafloor depth: -3566.454972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133883 meters # Minimum depth: 3571.467131 meters looking forward 0.000000 meters along route # Maximum depth: 3571.467131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3521.467131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065727; longitude = -123.228945; captureRadius = 10; duration = 200; initialDepth = 3519.516322; finalDepth = 3521.467131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3521.467131 # Seafloor depth: -3571.467131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133918 meters # Minimum depth: 3569.516322 meters looking forward 0.000000 meters along route # Maximum depth: 3569.516322 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3519.516322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065704; longitude = -123.230057; captureRadius = 10; duration = 200; initialDepth = 3521.649433; finalDepth = 3519.516322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3519.516322 # Seafloor depth: -3569.516322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133952 meters # Minimum depth: 3571.649433 meters looking forward 0.000000 meters along route # Maximum depth: 3571.649433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3521.649433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065681; longitude = -123.231169; captureRadius = 10; duration = 200; initialDepth = 3526.041825; finalDepth = 3521.649433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3521.649433 # Seafloor depth: -3571.649433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.133986 meters # Minimum depth: 3576.041825 meters looking forward 0.000000 meters along route # Maximum depth: 3576.041825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3526.041825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065658; longitude = -123.232280; captureRadius = 10; duration = 200; initialDepth = 3539.856231; finalDepth = 3526.041825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3526.041825 # Seafloor depth: -3576.041825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134020 meters # Minimum depth: 3589.856231 meters looking forward 0.000000 meters along route # Maximum depth: 3589.856231 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3539.856231 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065635; longitude = -123.233392; captureRadius = 10; duration = 200; initialDepth = 3554.280201; finalDepth = 3539.856231; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3539.856231 # Seafloor depth: -3589.856231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134055 meters # Minimum depth: 3604.280201 meters looking forward 0.000000 meters along route # Maximum depth: 3604.280201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3554.280201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065612; longitude = -123.234503; captureRadius = 10; duration = 200; initialDepth = 3569.989647; finalDepth = 3554.280201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3554.280201 # Seafloor depth: -3604.280201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134089 meters # Minimum depth: 3619.989647 meters looking forward 0.000000 meters along route # Maximum depth: 3619.989647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3569.989647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065589; longitude = -123.235615; captureRadius = 10; duration = 200; initialDepth = 3577.791295; finalDepth = 3569.989647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3569.989647 # Seafloor depth: -3619.989647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134123 meters # Minimum depth: 3627.791295 meters looking forward 0.000000 meters along route # Maximum depth: 3627.791295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3577.791295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065566; longitude = -123.236726; captureRadius = 10; duration = 200; initialDepth = 3582.985094; finalDepth = 3577.791295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3577.791295 # Seafloor depth: -3627.791295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134157 meters # Minimum depth: 3632.985094 meters looking forward 0.000000 meters along route # Maximum depth: 3632.985094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3582.985094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065543; longitude = -123.237838; captureRadius = 10; duration = 200; initialDepth = 3581.753271; finalDepth = 3582.985094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3582.985094 # Seafloor depth: -3632.985094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134192 meters # Minimum depth: 3631.753271 meters looking forward 0.000000 meters along route # Maximum depth: 3631.753271 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3581.753271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065520; longitude = -123.238950; captureRadius = 10; duration = 200; initialDepth = 3584.448234; finalDepth = 3581.753271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3581.753271 # Seafloor depth: -3631.753271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134227 meters # Minimum depth: 3634.448234 meters looking forward 0.000000 meters along route # Maximum depth: 3634.448234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3584.448234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065497; longitude = -123.240061; captureRadius = 10; duration = 200; initialDepth = 3586.057749; finalDepth = 3584.448234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.448234 # Seafloor depth: -3634.448234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134260 meters # Minimum depth: 3636.057749 meters looking forward 0.000000 meters along route # Maximum depth: 3636.057749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3586.057749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065475; longitude = -123.241173; captureRadius = 10; duration = 200; initialDepth = 3595.179501; finalDepth = 3586.057749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3586.057749 # Seafloor depth: -3636.057749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134296 meters # Minimum depth: 3645.179501 meters looking forward 0.000000 meters along route # Maximum depth: 3645.179501 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3595.179501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065452; longitude = -123.242284; captureRadius = 10; duration = 200; initialDepth = 3601.899158; finalDepth = 3595.179501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3595.179501 # Seafloor depth: -3645.179501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134329 meters # Minimum depth: 3651.899158 meters looking forward 0.000000 meters along route # Maximum depth: 3651.899158 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3601.899158 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065429; longitude = -123.243396; captureRadius = 10; duration = 200; initialDepth = 3602.139365; finalDepth = 3601.899158; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3601.899158 # Seafloor depth: -3651.899158 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134364 meters # Minimum depth: 3652.139365 meters looking forward 0.000000 meters along route # Maximum depth: 3652.139365 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3602.139365 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065406; longitude = -123.244507; captureRadius = 10; duration = 200; initialDepth = 3607.846652; finalDepth = 3602.139365; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3602.139365 # Seafloor depth: -3652.139365 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134399 meters # Minimum depth: 3657.846652 meters looking forward 0.000000 meters along route # Maximum depth: 3657.846652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3607.846652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065383; longitude = -123.245619; captureRadius = 10; duration = 200; initialDepth = 3611.068282; finalDepth = 3607.846652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.846652 # Seafloor depth: -3657.846652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134433 meters # Minimum depth: 3661.068282 meters looking forward 0.000000 meters along route # Maximum depth: 3661.068282 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3611.068282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065360; longitude = -123.246731; captureRadius = 10; duration = 200; initialDepth = 3609.632242; finalDepth = 3611.068282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.068282 # Seafloor depth: -3661.068282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134468 meters # Minimum depth: 3659.632242 meters looking forward 0.000000 meters along route # Maximum depth: 3659.632242 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3609.632242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065337; longitude = -123.247842; captureRadius = 10; duration = 200; initialDepth = 3616.874762; finalDepth = 3609.632242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3609.632242 # Seafloor depth: -3659.632242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134502 meters # Minimum depth: 3666.874762 meters looking forward 0.000000 meters along route # Maximum depth: 3666.874762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3616.874762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065314; longitude = -123.248954; captureRadius = 10; duration = 200; initialDepth = 3628.359340; finalDepth = 3616.874762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3616.874762 # Seafloor depth: -3666.874762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134537 meters # Minimum depth: 3678.359340 meters looking forward 0.000000 meters along route # Maximum depth: 3678.359340 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3628.359340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065291; longitude = -123.250065; captureRadius = 10; duration = 200; initialDepth = 3631.109949; finalDepth = 3628.359340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.35934 # Seafloor depth: -3678.359340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134572 meters # Minimum depth: 3681.109949 meters looking forward 0.000000 meters along route # Maximum depth: 3681.109949 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3631.109949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065268; longitude = -123.251177; captureRadius = 10; duration = 200; initialDepth = 3641.712816; finalDepth = 3631.109949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3631.109949 # Seafloor depth: -3681.109949 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134606 meters # Minimum depth: 3691.712816 meters looking forward 0.000000 meters along route # Maximum depth: 3691.712816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3641.712816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065245; longitude = -123.252289; captureRadius = 10; duration = 200; initialDepth = 3621.395842; finalDepth = 3641.712816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3641.712816 # Seafloor depth: -3691.712816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134641 meters # Minimum depth: 3671.395842 meters looking forward 0.000000 meters along route # Maximum depth: 3671.395842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3621.395842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065222; longitude = -123.253400; captureRadius = 10; duration = 200; initialDepth = 3585.755581; finalDepth = 3621.395842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.395842 # Seafloor depth: -3671.395842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134676 meters # Minimum depth: 3635.755581 meters looking forward 0.000000 meters along route # Maximum depth: 3635.755581 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3585.755581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065199; longitude = -123.254512; captureRadius = 10; duration = 200; initialDepth = 3551.238144; finalDepth = 3585.755581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3585.755581 # Seafloor depth: -3635.755581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134710 meters # Minimum depth: 3601.238144 meters looking forward 0.000000 meters along route # Maximum depth: 3601.238144 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3551.238144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065176; longitude = -123.255623; captureRadius = 10; duration = 200; initialDepth = 3522.708685; finalDepth = 3551.238144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3551.238144 # Seafloor depth: -3601.238144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134746 meters # Minimum depth: 3572.708685 meters looking forward 0.000000 meters along route # Maximum depth: 3572.708685 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3522.708685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065153; longitude = -123.256735; captureRadius = 10; duration = 200; initialDepth = 3494.185135; finalDepth = 3522.708685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3522.708685 # Seafloor depth: -3572.708685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134780 meters # Minimum depth: 3544.185135 meters looking forward 0.000000 meters along route # Maximum depth: 3544.185135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3494.185135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065130; longitude = -123.257846; captureRadius = 10; duration = 200; initialDepth = 3487.986162; finalDepth = 3494.185135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3494.185135 # Seafloor depth: -3544.185135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134814 meters # Minimum depth: 3537.986162 meters looking forward 0.000000 meters along route # Maximum depth: 3537.986162 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3487.986162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065107; longitude = -123.258958; captureRadius = 10; duration = 200; initialDepth = 3490.640466; finalDepth = 3487.986162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3487.986162 # Seafloor depth: -3537.986162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134850 meters # Minimum depth: 3540.640466 meters looking forward 0.000000 meters along route # Maximum depth: 3540.640466 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3490.640466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065085; longitude = -123.260070; captureRadius = 10; duration = 200; initialDepth = 3495.948818; finalDepth = 3490.640466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3490.640466 # Seafloor depth: -3540.640466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134885 meters # Minimum depth: 3545.948818 meters looking forward 0.000000 meters along route # Maximum depth: 3545.948818 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.948818 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065062; longitude = -123.261181; captureRadius = 10; duration = 200; initialDepth = 3495.883978; finalDepth = 3495.948818; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.948818 # Seafloor depth: -3545.948818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134919 meters # Minimum depth: 3545.883978 meters looking forward 0.000000 meters along route # Maximum depth: 3545.883978 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3495.883978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065039; longitude = -123.262293; captureRadius = 10; duration = 200; initialDepth = 3501.028425; finalDepth = 3495.883978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3495.883978 # Seafloor depth: -3545.883978 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134954 meters # Minimum depth: 3551.028425 meters looking forward 0.000000 meters along route # Maximum depth: 3551.028425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3501.028425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.065016; longitude = -123.263404; captureRadius = 10; duration = 200; initialDepth = 3498.335306; finalDepth = 3501.028425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3501.028425 # Seafloor depth: -3551.028425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134990 meters # Minimum depth: 3548.335306 meters looking forward 0.000000 meters along route # Maximum depth: 3548.335306 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3498.335306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064993; longitude = -123.264516; captureRadius = 10; duration = 200; initialDepth = 3507.797233; finalDepth = 3498.335306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3498.335306 # Seafloor depth: -3548.335306 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135024 meters # Minimum depth: 3557.797233 meters looking forward 0.000000 meters along route # Maximum depth: 3557.797233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3507.797233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064970; longitude = -123.265628; captureRadius = 10; duration = 200; initialDepth = 3509.392812; finalDepth = 3507.797233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3507.797233 # Seafloor depth: -3557.797233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135059 meters # Minimum depth: 3559.392812 meters looking forward 0.000000 meters along route # Maximum depth: 3559.392812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3509.392812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064947; longitude = -123.266739; captureRadius = 10; duration = 200; initialDepth = 3514.226848; finalDepth = 3509.392812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3509.392812 # Seafloor depth: -3559.392812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135094 meters # Minimum depth: 3564.226848 meters looking forward 0.000000 meters along route # Maximum depth: 3564.226848 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3514.226848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064924; longitude = -123.267851; captureRadius = 10; duration = 200; initialDepth = 3510.875492; finalDepth = 3514.226848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3514.226848 # Seafloor depth: -3564.226848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135130 meters # Minimum depth: 3560.875492 meters looking forward 0.000000 meters along route # Maximum depth: 3560.875492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3510.875492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064901; longitude = -123.268962; captureRadius = 10; duration = 200; initialDepth = 3506.508135; finalDepth = 3510.875492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3510.875492 # Seafloor depth: -3560.875492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135164 meters # Minimum depth: 3556.508135 meters looking forward 0.000000 meters along route # Maximum depth: 3556.508135 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3506.508135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064878; longitude = -123.270074; captureRadius = 10; duration = 200; initialDepth = 3503.383218; finalDepth = 3506.508135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3506.508135 # Seafloor depth: -3556.508135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135199 meters # Minimum depth: 3553.383218 meters looking forward 0.000000 meters along route # Maximum depth: 3553.383218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3503.383218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064855; longitude = -123.271185; captureRadius = 10; duration = 200; initialDepth = 3497.062285; finalDepth = 3503.383218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3503.383218 # Seafloor depth: -3553.383218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135235 meters # Minimum depth: 3547.062285 meters looking forward 0.000000 meters along route # Maximum depth: 3547.062285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3497.062285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064832; longitude = -123.272297; captureRadius = 10; duration = 200; initialDepth = 3490.394440; finalDepth = 3497.062285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3497.062285 # Seafloor depth: -3547.062285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.135270 meters # Minimum depth: 3540.394440 meters looking forward 0.000000 meters along route # Maximum depth: 3540.394440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3490.394440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064809; longitude = -123.273409; captureRadius = 10; duration = 200; initialDepth = 3483.580194; finalDepth = 3490.394440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3490.39444 # Seafloor depth: -3540.394440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 123.397381 meters # Minimum depth: 3533.580194 meters looking forward 0.000000 meters along route # Maximum depth: 3533.580194 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 3666.712816 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 3483.580194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.064786; longitude = -123.274520; captureRadius = 10; duration = 246; initialDepth = 3475.134705; finalDepth = 3483.580194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3483.580194 # Seafloor depth: -3533.580194 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Sonar parameter altitude: 50 # Commanded vehicle depth: 3475.134705 # Seafloor depth: -3525.134705 # behavior reson { duration = 6; 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; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 123.397381 meters # Minimum depth: 3525.134705 meters looking forward 0.000000 meters along route # Maximum depth: 3525.134705 meters looking forward 0.000000 meters along route # Vehicle depth: 3475.134705 meters behavior waypoint { latitude = 36.064758; longitude = -123.275890; captureRadius = 10; duration = 1737; depth = 3475.134705; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update - sent status ping at beginning of StartSurvey behavior # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 3475.134705 meters set by local depth and desired altitude behavior descend { duration = 10144; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; maxDepth = 3465.134705; minAltitude = 50.000000; } # # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 123.397381 meters # Minimum depth: 3525.134705 meters looking forward 0.000000 meters along route # Maximum depth: 3525.134705 meters looking forward 0.000000 meters along route # Vehicle depth: 30.000000 meters behavior waypoint { latitude = 36.064758; longitude = -123.275890; captureRadius = 10; duration = 1000; depth = 30.000000; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 88.690845; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 88.690845; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 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 = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################