# 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: 20110622_SBPtest_1v1.rte # Mission File: 20110622_SBPtest_1v1.cfg # Distance: 9614.945654 (m) # Estimated Time: 8998 (s) 2.500 (hr) # Abort Time: 11698 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 2046 (s) # Way Points: 8 # Route Points: 94 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 # Multibeam transmit gain: 220 # Multibeam minimum range fraction: 0.3 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Delta Depth Restart: 25 (m) # Maximum Vehicle Depth: 1680.289242 (m) # Abort Vehicle Depth: 1705.289242 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.964928 36.723680 -107.500203 0.000000 3 # 1 -122.011741 36.717100 -1432.526611 4244.134227 1 # 2 -122.019692 36.709077 -1404.003113 5382.791517 1 # 3 -122.026710 36.705051 -1372.803619 6152.507936 1 # 4 -122.035819 36.703309 -1363.742950 6988.829424 1 # 5 -122.044331 36.702317 -1397.319550 7757.122574 1 # 6 -122.056949 36.703158 -1526.169922 8888.095123 1 # 7 -122.059002 36.696818 -1709.447754 9614.945654 4 # # A total of 94 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 11698; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1680.289242; abortDepth = 1705.289242; minAltitude = 50.000000; abortAltitude = 25.000000; deltaDepthRestart = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2046; 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 7 # Segment length 99.899055 meters # Minimum depth: 1705.289242 meters looking forward 100.000000 meters along route # Maximum depth: 1709.814116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.289242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696818; longitude = -122.059002; duration = 199; # abortOnTimeout = True; initialDepth = 1639.771550; finalDepth = 1655.289242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.158512 # Actual altitude: 54.158512 # Commanded vehicle depth: 1655.289242 # Seafloor depth: -1709.447754 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.343794 meters # Minimum depth: 1689.771550 meters looking forward 100.000000 meters along route # Maximum depth: 1704.558141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.771550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697690; longitude = -122.058720; duration = 206; initialDepth = 1609.792492; finalDepth = 1639.771550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.786591 # Actual altitude: 64.786591 # Commanded vehicle depth: 1639.77155 # Seafloor depth: -1704.558141 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.44; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.343736 meters # Minimum depth: 1659.792492 meters looking forward 100.000000 meters along route # Maximum depth: 1687.263504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1609.792492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698591; longitude = -122.058428; duration = 206; initialDepth = 1571.914765; finalDepth = 1609.792492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.471012 # Actual altitude: 77.471012 # Commanded vehicle depth: 1609.792492 # Seafloor depth: -1687.263504 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.24; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.343681 meters # Minimum depth: 1621.914765 meters looking forward 100.000000 meters along route # Maximum depth: 1659.328363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.914765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699493; longitude = -122.058136; duration = 206; initialDepth = 1514.008168; finalDepth = 1571.914765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.4135980000001 # Actual altitude: 87.4135980000001 # Commanded vehicle depth: 1571.914765 # Seafloor depth: -1659.328363 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.343623 meters # Minimum depth: 1564.008168 meters looking forward 100.000000 meters along route # Maximum depth: 1617.735003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.008168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700394; longitude = -122.057844; duration = 206; initialDepth = 1496.984673; finalDepth = 1514.008168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.726835 # Actual altitude: 100 # Commanded vehicle depth: 1514.008168 # Seafloor depth: -1617.735003 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 107.853103 meters # Minimum depth: 1546.984673 meters looking forward 100.000000 meters along route # Maximum depth: 1561.395747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.984673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701295; longitude = -122.057552; duration = 215; initialDepth = 1477.528672; finalDepth = 1496.984673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.726835 # Actual altitude: 100 # Commanded vehicle depth: 1496.984673 # Seafloor depth: -1561.395747 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 105.723539 meters # Minimum depth: 1527.528672 meters looking forward 100.000000 meters along route # Maximum depth: 1546.207686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.528672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702236; longitude = -122.057247; duration = 211; initialDepth = 1443.257149; finalDepth = 1477.528672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.6790140000001 # Actual altitude: 68.6790140000001 # Commanded vehicle depth: 1477.528672 # Seafloor depth: -1546.207686 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 123.807017 meters # Minimum depth: 1493.257149 meters looking forward 100.000000 meters along route # Maximum depth: 1526.169922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.257149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703158; longitude = -122.056949; duration = 247; # abortOnTimeout = True; initialDepth = 1407.296327; finalDepth = 1443.257149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.912773 # Actual altitude: 82.912773 # Commanded vehicle depth: 1443.257149 # Seafloor depth: -1526.169922 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.384199 meters # Minimum depth: 1457.296327 meters looking forward 100.000000 meters along route # Maximum depth: 1488.737627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1407.296327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703066; longitude = -122.055567; duration = 200; initialDepth = 1360.100009; finalDepth = 1407.296327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.912773 # Actual altitude: 82.912773 # Commanded vehicle depth: 1407.296327 # Seafloor depth: -1488.737627 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.87; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.384316 meters # Minimum depth: 1410.100009 meters looking forward 100.000000 meters along route # Maximum depth: 1452.232371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.100009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702992; longitude = -122.054447; duration = 200; initialDepth = 1348.817233; finalDepth = 1360.100009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.1323620000001 # Actual altitude: 92.1323620000001 # Commanded vehicle depth: 1360.100009 # Seafloor depth: -1452.232371 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.64; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.384434 meters # Minimum depth: 1398.817233 meters looking forward 100.000000 meters along route # Maximum depth: 1409.574504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.817233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702917; longitude = -122.053327; duration = 200; initialDepth = 1350.795905; finalDepth = 1348.817233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.1323620000001 # Actual altitude: 92.1323620000001 # Commanded vehicle depth: 1348.817233 # Seafloor depth: -1409.574504 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.64; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.384551 meters # Minimum depth: 1400.795905 meters looking forward 100.000000 meters along route # Maximum depth: 1407.008100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.795905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702842; longitude = -122.052208; duration = 200; initialDepth = 1350.351691; finalDepth = 1350.795905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7572709999999 # Actual altitude: 60.7572709999999 # Commanded vehicle depth: 1350.795905 # Seafloor depth: -1400.795905 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.23; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.384669 meters # Minimum depth: 1400.351691 meters looking forward 100.000000 meters along route # Maximum depth: 1405.137723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1350.351691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702767; longitude = -122.051088; duration = 200; initialDepth = 1344.426316; finalDepth = 1350.351691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.786032 # Actual altitude: 54.786032 # Commanded vehicle depth: 1350.351691 # Seafloor depth: -1405.137723 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.384786 meters # Minimum depth: 1394.426316 meters looking forward 100.000000 meters along route # Maximum depth: 1404.152587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.426316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702693; longitude = -122.049968; duration = 200; initialDepth = 1357.909274; finalDepth = 1344.426316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.786032 # Actual altitude: 54.786032 # Commanded vehicle depth: 1344.426316 # Seafloor depth: -1398.574602 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.44; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.384904 meters # Minimum depth: 1407.909274 meters looking forward 100.000000 meters along route # Maximum depth: 1421.494508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.909274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702618; longitude = -122.048848; duration = 200; initialDepth = 1338.486536; finalDepth = 1357.909274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1482859999999 # Actual altitude: 54.1482859999999 # Commanded vehicle depth: 1357.909274 # Seafloor depth: -1407.909274 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.385021 meters # Minimum depth: 1388.486536 meters looking forward 100.000000 meters along route # Maximum depth: 1409.610791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1338.486536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702543; longitude = -122.047728; duration = 200; initialDepth = 1347.029948; finalDepth = 1338.486536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1242550000002 # Actual altitude: 71.1242550000002 # Commanded vehicle depth: 1338.486536 # Seafloor depth: -1409.610791 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.385138 meters # Minimum depth: 1397.029948 meters looking forward 100.000000 meters along route # Maximum depth: 1429.021524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1347.029948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702469; longitude = -122.046608; duration = 200; initialDepth = 1348.724911; finalDepth = 1347.029948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.1242550000002 # Actual altitude: 71.1242550000002 # Commanded vehicle depth: 1347.029948 # Seafloor depth: -1397.029948 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 103.703514 meters # Minimum depth: 1398.724911 meters looking forward 100.000000 meters along route # Maximum depth: 1432.331753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.724911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702394; longitude = -122.045488; duration = 207; initialDepth = 1323.323139; finalDepth = 1348.724911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.741172 # Actual altitude: 82.741172 # Commanded vehicle depth: 1348.724911 # Seafloor depth: -1431.466083 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 158.394927 meters # Minimum depth: 1373.323139 meters looking forward 100.000000 meters along route # Maximum depth: 1397.319550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.323139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702317; longitude = -122.044331; duration = 316; # abortOnTimeout = True; initialDepth = 1335.643358; finalDepth = 1323.323139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.741172 # Actual altitude: 82.741172 # Commanded vehicle depth: 1323.323139 # Seafloor depth: -1397.319550 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.085012 meters # Minimum depth: 1385.643358 meters looking forward 100.000000 meters along route # Maximum depth: 1428.310046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.643358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702522; longitude = -122.042576; duration = 202; initialDepth = 1348.175932; finalDepth = 1335.643358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.9964109999999 # Actual altitude: 73.9964109999999 # Commanded vehicle depth: 1335.643358 # Seafloor depth: -1385.643358 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.084866 meters # Minimum depth: 1398.175932 meters looking forward 100.000000 meters along route # Maximum depth: 1429.082356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.175932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702652; longitude = -122.041456; duration = 202; initialDepth = 1329.232689; finalDepth = 1348.175932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.648412 # Actual altitude: 80.648412 # Commanded vehicle depth: 1348.175932 # Seafloor depth: -1428.824344 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.084720 meters # Minimum depth: 1379.232689 meters looking forward 100.000000 meters along route # Maximum depth: 1393.285073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1329.232689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702783; longitude = -122.040336; duration = 202; initialDepth = 1331.924761; finalDepth = 1329.232689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.648412 # Actual altitude: 80.648412 # Commanded vehicle depth: 1329.232689 # Seafloor depth: -1393.285073 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.19; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.084574 meters # Minimum depth: 1381.924761 meters looking forward 100.000000 meters along route # Maximum depth: 1394.986972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.924761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702913; longitude = -122.039216; duration = 202; initialDepth = 1314.774456; finalDepth = 1331.924761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.0523840000001 # Actual altitude: 64.0523840000001 # Commanded vehicle depth: 1331.924761 # Seafloor depth: -1381.924761 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.22; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.084428 meters # Minimum depth: 1364.774456 meters looking forward 100.000000 meters along route # Maximum depth: 1401.635980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.774456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703044; longitude = -122.038096; duration = 202; initialDepth = 1307.598280; finalDepth = 1314.774456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.3864329999999 # Actual altitude: 83.3864329999999 # Commanded vehicle depth: 1314.774456 # Seafloor depth: -1398.160889 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 104.474623 meters # Minimum depth: 1357.598280 meters looking forward 100.000000 meters along route # Maximum depth: 1363.513219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1307.598280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703174; longitude = -122.036976; duration = 208; initialDepth = 1313.742950; finalDepth = 1307.598280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 83.3864329999999 # Actual altitude: 83.3864329999999 # Commanded vehicle depth: 1307.59828 # Seafloor depth: -1361.515213 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 109.658235 meters # Minimum depth: 1363.742950 meters looking forward 100.000000 meters along route # Maximum depth: 1401.150901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1313.742950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703309; longitude = -122.035819; duration = 219; # abortOnTimeout = True; initialDepth = 1305.095150; finalDepth = 1313.742950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.916933 # Actual altitude: 53.916933 # Commanded vehicle depth: 1313.74295 # Seafloor depth: -1363.742950 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.824239 meters # Minimum depth: 1355.095150 meters looking forward 100.000000 meters along route # Maximum depth: 1406.682201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1305.095150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703537; longitude = -122.034625; duration = 205; initialDepth = 1293.595059; finalDepth = 1305.095150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.7230379999999 # Actual altitude: 97.7230379999999 # Commanded vehicle depth: 1305.09515 # Seafloor depth: -1402.818188 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.32; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.823991 meters # Minimum depth: 1343.595059 meters looking forward 100.000000 meters along route # Maximum depth: 1358.293199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1293.595059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703752; longitude = -122.033505; duration = 205; initialDepth = 1312.712771; finalDepth = 1293.595059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.7230379999999 # Actual altitude: 97.7230379999999 # Commanded vehicle depth: 1293.595059 # Seafloor depth: -1350.452606 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.32; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.823744 meters # Minimum depth: 1362.712771 meters looking forward 100.000000 meters along route # Maximum depth: 1393.087681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1312.712771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703966; longitude = -122.032385; duration = 205; initialDepth = 1343.090145; finalDepth = 1312.712771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8575470000001 # Actual altitude: 56.8575470000001 # Commanded vehicle depth: 1312.712771 # Seafloor depth: -1362.712771 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.823495 meters # Minimum depth: 1393.090145 meters looking forward 100.000000 meters along route # Maximum depth: 1406.999989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1343.090145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704180; longitude = -122.031265; duration = 205; initialDepth = 1353.914741; finalDepth = 1343.090145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1343.090145 # Seafloor depth: -1393.090145 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.823247 meters # Minimum depth: 1403.914741 meters looking forward 100.000000 meters along route # Maximum depth: 1410.284504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.914741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704394; longitude = -122.030145; duration = 205; initialDepth = 1344.089645; finalDepth = 1353.914741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.518497 # Actual altitude: 54.518497 # Commanded vehicle depth: 1353.914741 # Seafloor depth: -1408.433238 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.823000 meters # Minimum depth: 1394.089645 meters looking forward 100.000000 meters along route # Maximum depth: 1401.023454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1344.089645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704608; longitude = -122.029025; duration = 205; initialDepth = 1322.792516; finalDepth = 1344.089645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9338089999999 # Actual altitude: 56.9338089999999 # Commanded vehicle depth: 1344.089645 # Seafloor depth: -1401.023454 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 109.721537 meters # Minimum depth: 1372.792516 meters looking forward 100.000000 meters along route # Maximum depth: 1392.993175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.792516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704822; longitude = -122.027905; duration = 219; initialDepth = 1322.803619; finalDepth = 1322.792516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 70.2006590000001 # Actual altitude: 70.2006590000001 # Commanded vehicle depth: 1322.792516 # Seafloor depth: -1392.993175 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 143.658796 meters # Minimum depth: 1372.803619 meters looking forward 100.000000 meters along route # Maximum depth: 1392.508125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.803619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705051; longitude = -122.026710; duration = 287; # abortOnTimeout = True; initialDepth = 1323.316255; finalDepth = 1322.803619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2006590000001 # Actual altitude: 70.2006590000001 # Commanded vehicle depth: 1322.803619 # Seafloor depth: -1372.803619 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.047708 meters # Minimum depth: 1373.316255 meters looking forward 100.000000 meters along route # Maximum depth: 1400.825880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.316255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705802; longitude = -122.025400; duration = 212; initialDepth = 1321.258200; finalDepth = 1323.316255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3359330000001 # Actual altitude: 71.3359330000001 # Commanded vehicle depth: 1323.316255 # Seafloor depth: -1394.652188 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.756632 meters # Minimum depth: 1371.258200 meters looking forward 100.000000 meters along route # Maximum depth: 1385.471789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.258200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706357; longitude = -122.024433; duration = 201; initialDepth = 1335.991244; finalDepth = 1321.258200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3359330000001 # Actual altitude: 71.3359330000001 # Commanded vehicle depth: 1321.2582 # Seafloor depth: -1372.887854 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.401481 meters # Minimum depth: 1385.991244 meters looking forward 100.000000 meters along route # Maximum depth: 1407.452820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.991244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706884; longitude = -122.023515; duration = 206; initialDepth = 1358.756500; finalDepth = 1335.991244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6296540000001 # Actual altitude: 51.6296540000001 # Commanded vehicle depth: 1335.991244 # Seafloor depth: -1385.991244 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 103.401023 meters # Minimum depth: 1408.756500 meters looking forward 100.000000 meters along route # Maximum depth: 1415.930128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.756500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707425; longitude = -122.022572; duration = 206; initialDepth = 1358.753950; finalDepth = 1358.756500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1358.7565 # Seafloor depth: -1408.756500 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 110.064687 meters # Minimum depth: 1408.753950 meters looking forward 100.000000 meters along route # Maximum depth: 1412.057548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.753950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707966; longitude = -122.021629; duration = 220; initialDepth = 1351.704928; finalDepth = 1358.753950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.197298 # Actual altitude: 51.197298 # Commanded vehicle depth: 1358.75395 # Seafloor depth: -1409.951248 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.386092 meters # Minimum depth: 1401.704928 meters looking forward 100.000000 meters along route # Maximum depth: 1408.820227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.704928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708541; longitude = -122.020626; duration = 204; initialDepth = 1352.805516; finalDepth = 1351.704928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.1152989999998 # Actual altitude: 57.1152989999998 # Commanded vehicle depth: 1351.704928 # Seafloor depth: -1408.820227 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 110.945285 meters # Minimum depth: 1402.805516 meters looking forward 100.000000 meters along route # Maximum depth: 1404.316276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.805516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709077; longitude = -122.019692; duration = 221; # abortOnTimeout = True; initialDepth = 1354.780137; finalDepth = 1352.805516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1152989999998 # Actual altitude: 57.1152989999998 # Commanded vehicle depth: 1352.805516 # Seafloor depth: -1404.003113 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.13; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 102.346029 meters # Minimum depth: 1404.780137 meters looking forward 100.000000 meters along route # Maximum depth: 1420.479143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.780137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709859; longitude = -122.018917; duration = 204; initialDepth = 1367.418792; finalDepth = 1354.780137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1975970000001 # Actual altitude: 51.1975970000001 # Commanded vehicle depth: 1354.780137 # Seafloor depth: -1404.780137 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.345678 meters # Minimum depth: 1417.418792 meters looking forward 100.000000 meters along route # Maximum depth: 1428.609559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.418792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710580; longitude = -122.018203; duration = 204; initialDepth = 1367.837052; finalDepth = 1367.418792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.44499 # Actual altitude: 55.44499 # Commanded vehicle depth: 1367.418792 # Seafloor depth: -1422.863782 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.345328 meters # Minimum depth: 1417.837052 meters looking forward 100.000000 meters along route # Maximum depth: 1448.448543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.837052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711301; longitude = -122.017488; duration = 204; initialDepth = 1398.528261; finalDepth = 1367.837052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.44499 # Actual altitude: 55.44499 # Commanded vehicle depth: 1367.837052 # Seafloor depth: -1417.837052 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.344977 meters # Minimum depth: 1448.528261 meters looking forward 100.000000 meters along route # Maximum depth: 1460.603524 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.528261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712022; longitude = -122.016773; duration = 204; initialDepth = 1412.197176; finalDepth = 1398.528261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1398.528261 # Seafloor depth: -1448.528261 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.344627 meters # Minimum depth: 1462.197176 meters looking forward 100.000000 meters along route # Maximum depth: 1469.409280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1412.197176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712743; longitude = -122.016059; duration = 204; initialDepth = 1410.612832; finalDepth = 1412.197176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1412.197176 # Seafloor depth: -1462.197176 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 102.344277 meters # Minimum depth: 1460.612832 meters looking forward 100.000000 meters along route # Maximum depth: 1467.011597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1410.612832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713464; longitude = -122.015344; duration = 204; initialDepth = 1400.595153; finalDepth = 1410.612832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3987649999999 # Actual altitude: 56.3987649999999 # Commanded vehicle depth: 1410.612832 # Seafloor depth: -1467.011597 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 103.602697 meters # Minimum depth: 1450.595153 meters looking forward 100.000000 meters along route # Maximum depth: 1459.990677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1400.595153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714185; longitude = -122.014629; duration = 207; initialDepth = 1395.975689; finalDepth = 1400.595153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.395524 # Actual altitude: 59.395524 # Commanded vehicle depth: 1400.595153 # Seafloor depth: -1459.990677 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.084804 meters # Minimum depth: 1445.975689 meters looking forward 100.000000 meters along route # Maximum depth: 1450.515530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1395.975689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714915; longitude = -122.013906; duration = 202; initialDepth = 1386.704617; finalDepth = 1395.975689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.395524 # Actual altitude: 59.395524 # Commanded vehicle depth: 1395.975689 # Seafloor depth: -1450.515530 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 107.412134 meters # Minimum depth: 1436.704617 meters looking forward 100.000000 meters along route # Maximum depth: 1445.759943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.704617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715628; longitude = -122.013200; duration = 214; initialDepth = 1383.456643; finalDepth = 1386.704617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0553259999999 # Actual altitude: 59.0553259999999 # Commanded vehicle depth: 1386.704617 # Seafloor depth: -1445.759943 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.72; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 101.541454 meters # Minimum depth: 1433.456643 meters looking forward 100.000000 meters along route # Maximum depth: 1439.165117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.456643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716385; longitude = -122.012450; duration = 203; initialDepth = 1379.501350; finalDepth = 1383.456643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.0553259999999 # Actual altitude: 59.0553259999999 # Commanded vehicle depth: 1383.456643 # Seafloor depth: -1437.378778 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.72; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 77.866570 meters # Minimum depth: 1429.501350 meters looking forward 100.000000 meters along route # Maximum depth: 1435.322834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.501350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717100; longitude = -122.011741; duration = 155; # abortOnTimeout = True; initialDepth = 1375.195271; finalDepth = 1379.501350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.922135 # Actual altitude: 53.922135 # Commanded vehicle depth: 1379.50135 # Seafloor depth: -1432.526611 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.537311 meters # Minimum depth: 1425.195271 meters looking forward 100.000000 meters along route # Maximum depth: 1429.116701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1375.195271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717221; longitude = -122.010882; duration = 203; initialDepth = 1357.929850; finalDepth = 1375.195271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9214299999999 # Actual altitude: 53.9214299999999 # Commanded vehicle depth: 1375.195271 # Seafloor depth: -1429.116701 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.537131 meters # Minimum depth: 1407.929850 meters looking forward 100.000000 meters along route # Maximum depth: 1425.692614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.929850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717378; longitude = -122.009762; duration = 203; initialDepth = 1310.331291; finalDepth = 1357.929850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.7590869999999 # Actual altitude: 66.7590869999999 # Commanded vehicle depth: 1357.92985 # Seafloor depth: -1424.688937 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536953 meters # Minimum depth: 1360.331291 meters looking forward 100.000000 meters along route # Maximum depth: 1401.022404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.331291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717536; longitude = -122.008642; duration = 203; initialDepth = 1261.581139; finalDepth = 1310.331291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.6911130000001 # Actual altitude: 90.6911130000001 # Commanded vehicle depth: 1310.331291 # Seafloor depth: -1401.022404 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.21; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536775 meters # Minimum depth: 1311.581139 meters looking forward 100.000000 meters along route # Maximum depth: 1356.648327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.581139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717693; longitude = -122.007522; duration = 203; initialDepth = 1205.530306; finalDepth = 1261.581139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.0671880000002 # Actual altitude: 95.0671880000002 # Commanded vehicle depth: 1261.581139 # Seafloor depth: -1356.648327 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.52; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536595 meters # Minimum depth: 1255.530306 meters looking forward 100.000000 meters along route # Maximum depth: 1305.422392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.530306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717850; longitude = -122.006402; duration = 203; initialDepth = 1156.005603; finalDepth = 1205.530306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.8920859999998 # Actual altitude: 99.8920859999998 # Commanded vehicle depth: 1205.530306 # Seafloor depth: -1305.422392 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536417 meters # Minimum depth: 1206.005603 meters looking forward 100.000000 meters along route # Maximum depth: 1252.230846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.005603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718008; longitude = -122.005283; duration = 203; initialDepth = 1085.914214; finalDepth = 1156.005603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.8920859999998 # Actual altitude: 99.8920859999998 # Commanded vehicle depth: 1156.005603 # Seafloor depth: -1252.230846 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.97; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536237 meters # Minimum depth: 1135.914214 meters looking forward 100.000000 meters along route # Maximum depth: 1201.299484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.914214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718165; longitude = -122.004163; duration = 203; initialDepth = 1014.439611; finalDepth = 1085.914214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.38527 # Actual altitude: 100 # Commanded vehicle depth: 1085.914214 # Seafloor depth: -1201.299484 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.536060 meters # Minimum depth: 1064.439611 meters looking forward 100.000000 meters along route # Maximum depth: 1127.093811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.439611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718323; longitude = -122.003043; duration = 203; initialDepth = 940.399378; finalDepth = 1014.439611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.38527 # Actual altitude: 100 # Commanded vehicle depth: 1014.439611 # Seafloor depth: -1127.093811 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535880 meters # Minimum depth: 990.399378 meters looking forward 100.000000 meters along route # Maximum depth: 1057.778945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.399378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718480; longitude = -122.001923; duration = 203; initialDepth = 866.413890; finalDepth = 940.399378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.379567 # Actual altitude: 100 # Commanded vehicle depth: 940.399378 # Seafloor depth: -1057.778945 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535702 meters # Minimum depth: 916.413890 meters looking forward 100.000000 meters along route # Maximum depth: 983.322279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.413890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718638; longitude = -122.000803; duration = 203; initialDepth = 805.085810; finalDepth = 866.413890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.379567 # Actual altitude: 100 # Commanded vehicle depth: 866.41389 # Seafloor depth: -983.322279 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535523 meters # Minimum depth: 855.085810 meters looking forward 100.000000 meters along route # Maximum depth: 907.223825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.085810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718795; longitude = -121.999683; duration = 203; initialDepth = 737.570408; finalDepth = 805.085810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.908389 # Actual altitude: 100 # Commanded vehicle depth: 805.08581 # Seafloor depth: -907.223825 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535344 meters # Minimum depth: 787.570408 meters looking forward 100.000000 meters along route # Maximum depth: 846.237811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.570408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718952; longitude = -121.998563; duration = 203; initialDepth = 705.865992; finalDepth = 737.570408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.667403 # Actual altitude: 100 # Commanded vehicle depth: 737.570408 # Seafloor depth: -846.237811 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.535166 meters # Minimum depth: 755.865992 meters looking forward 100.000000 meters along route # Maximum depth: 786.469522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.865992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719110; longitude = -121.997443; duration = 203; initialDepth = 622.824021; finalDepth = 705.865992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.667403 # Actual altitude: 100 # Commanded vehicle depth: 705.865992 # Seafloor depth: -786.469522 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534987 meters # Minimum depth: 672.824021 meters looking forward 100.000000 meters along route # Maximum depth: 748.765070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.824021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719267; longitude = -121.996323; duration = 203; initialDepth = 523.927536; finalDepth = 622.824021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.941049 # Actual altitude: 100 # Commanded vehicle depth: 622.824021 # Seafloor depth: -748.765070 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534809 meters # Minimum depth: 573.927536 meters looking forward 100.000000 meters along route # Maximum depth: 673.341066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.927536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719425; longitude = -121.995203; duration = 203; initialDepth = 461.893912; finalDepth = 523.927536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 149.41353 # Actual altitude: 100 # Commanded vehicle depth: 523.927536 # Seafloor depth: -673.341066 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534630 meters # Minimum depth: 511.893912 meters looking forward 100.000000 meters along route # Maximum depth: 571.624825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 461.893912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719582; longitude = -121.994083; duration = 203; initialDepth = 435.208594; finalDepth = 461.893912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 149.41353 # Actual altitude: 100 # Commanded vehicle depth: 461.893912 # Seafloor depth: -571.624825 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534452 meters # Minimum depth: 485.208594 meters looking forward 100.000000 meters along route # Maximum depth: 506.725775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.208594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719739; longitude = -121.992963; duration = 203; initialDepth = 417.742698; finalDepth = 435.208594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.730913 # Actual altitude: 100 # Commanded vehicle depth: 435.208594 # Seafloor depth: -506.725775 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534273 meters # Minimum depth: 467.742698 meters looking forward 100.000000 meters along route # Maximum depth: 479.833532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.742698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719897; longitude = -121.991843; duration = 203; initialDepth = 409.917820; finalDepth = 417.742698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.517181 # Actual altitude: 71.517181 # Commanded vehicle depth: 417.742698 # Seafloor depth: -479.833532 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.46; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.534095 meters # Minimum depth: 459.917820 meters looking forward 100.000000 meters along route # Maximum depth: 465.764684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.917820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720054; longitude = -121.990723; duration = 203; initialDepth = 395.686008; finalDepth = 409.917820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.090834 # Actual altitude: 62.090834 # Commanded vehicle depth: 409.91782 # Seafloor depth: -465.764684 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.63; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533916 meters # Minimum depth: 445.686008 meters looking forward 100.000000 meters along route # Maximum depth: 458.729489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.686008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720212; longitude = -121.989604; duration = 203; initialDepth = 380.460367; finalDepth = 395.686008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.043481 # Actual altitude: 63.043481 # Commanded vehicle depth: 395.686008 # Seafloor depth: -458.729489 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533738 meters # Minimum depth: 430.460367 meters looking forward 100.000000 meters along route # Maximum depth: 445.586485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.460367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720369; longitude = -121.988484; duration = 203; initialDepth = 363.688533; finalDepth = 380.460367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.126118 # Actual altitude: 65.126118 # Commanded vehicle depth: 380.460367 # Seafloor depth: -445.586485 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.54; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533559 meters # Minimum depth: 413.688533 meters looking forward 100.000000 meters along route # Maximum depth: 430.073840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.688533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720527; longitude = -121.987364; duration = 203; initialDepth = 347.962656; finalDepth = 363.688533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.385307 # Actual altitude: 66.385307 # Commanded vehicle depth: 363.688533 # Seafloor depth: -430.073840 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533382 meters # Minimum depth: 397.962656 meters looking forward 100.000000 meters along route # Maximum depth: 411.931423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 347.962656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720684; longitude = -121.986244; duration = 203; initialDepth = 328.381643; finalDepth = 347.962656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.385307 # Actual altitude: 66.385307 # Commanded vehicle depth: 347.962656 # Seafloor depth: -411.844658 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533202 meters # Minimum depth: 378.381643 meters looking forward 100.000000 meters along route # Maximum depth: 395.895792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.381643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720841; longitude = -121.985124; duration = 203; initialDepth = 295.821870; finalDepth = 328.381643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.514149 # Actual altitude: 67.514149 # Commanded vehicle depth: 328.381643 # Seafloor depth: -395.895792 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.533025 meters # Minimum depth: 345.821870 meters looking forward 100.000000 meters along route # Maximum depth: 375.596048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 295.821870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720999; longitude = -121.984004; duration = 203; initialDepth = 264.912949; finalDepth = 295.821870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.774178 # Actual altitude: 79.774178 # Commanded vehicle depth: 295.82187 # Seafloor depth: -375.596048 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532846 meters # Minimum depth: 314.912949 meters looking forward 100.000000 meters along route # Maximum depth: 341.961797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.912949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721156; longitude = -121.982884; duration = 203; initialDepth = 240.355661; finalDepth = 264.912949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.774178 # Actual altitude: 79.774178 # Commanded vehicle depth: 264.912949 # Seafloor depth: -341.961797 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532668 meters # Minimum depth: 290.355661 meters looking forward 100.000000 meters along route # Maximum depth: 313.876894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.355661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721314; longitude = -121.981764; duration = 203; initialDepth = 218.351581; finalDepth = 240.355661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.048848 # Actual altitude: 77.048848 # Commanded vehicle depth: 240.355661 # Seafloor depth: -313.876894 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532489 meters # Minimum depth: 268.351581 meters looking forward 100.000000 meters along route # Maximum depth: 287.271629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.351581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721471; longitude = -121.980644; duration = 203; initialDepth = 202.694341; finalDepth = 218.351581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.521233 # Actual altitude: 73.521233 # Commanded vehicle depth: 218.351581 # Seafloor depth: -287.271629 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532312 meters # Minimum depth: 252.694341 meters looking forward 100.000000 meters along route # Maximum depth: 266.379547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.694341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721629; longitude = -121.979524; duration = 203; initialDepth = 186.293683; finalDepth = 202.694341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.920048 # Actual altitude: 68.920048 # Commanded vehicle depth: 202.694341 # Seafloor depth: -266.379547 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.532133 meters # Minimum depth: 236.293683 meters looking forward 100.000000 meters along route # Maximum depth: 250.151996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.293683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721786; longitude = -121.978404; duration = 203; initialDepth = 177.382778; finalDepth = 186.293683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.858313 # Actual altitude: 63.858313 # Commanded vehicle depth: 186.293683 # Seafloor depth: -250.151996 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531955 meters # Minimum depth: 227.382778 meters looking forward 100.000000 meters along route # Maximum depth: 235.783313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.382778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721943; longitude = -121.977284; duration = 203; initialDepth = 165.357709; finalDepth = 177.382778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.858313 # Actual altitude: 63.858313 # Commanded vehicle depth: 177.382778 # Seafloor depth: -235.783313 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531777 meters # Minimum depth: 215.357709 meters looking forward 100.000000 meters along route # Maximum depth: 225.793439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 165.357709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722101; longitude = -121.976164; duration = 203; initialDepth = 147.659423; finalDepth = 165.357709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.43573 # Actual altitude: 60.43573 # Commanded vehicle depth: 165.357709 # Seafloor depth: -225.793439 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531599 meters # Minimum depth: 197.659423 meters looking forward 100.000000 meters along route # Maximum depth: 212.846802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.659423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722258; longitude = -121.975044; duration = 203; initialDepth = 125.121323; finalDepth = 147.659423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.187379 # Actual altitude: 65.187379 # Commanded vehicle depth: 147.659423 # Seafloor depth: -212.846802 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.56; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531420 meters # Minimum depth: 175.121323 meters looking forward 100.000000 meters along route # Maximum depth: 194.489909 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.121323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722416; longitude = -121.973925; duration = 203; initialDepth = 107.425656; finalDepth = 125.121323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.368586 # Actual altitude: 69.368586 # Commanded vehicle depth: 125.121323 # Seafloor depth: -194.489909 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531243 meters # Minimum depth: 157.425656 meters looking forward 100.000000 meters along route # Maximum depth: 174.556860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.425656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722573; longitude = -121.972805; duration = 203; initialDepth = 88.945294; finalDepth = 107.425656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.368586 # Actual altitude: 69.368586 # Commanded vehicle depth: 107.425656 # Seafloor depth: -174.556860 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.531064 meters # Minimum depth: 138.945294 meters looking forward 100.000000 meters along route # Maximum depth: 154.528707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.945294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722730; longitude = -121.971685; duration = 203; initialDepth = 78.419258; finalDepth = 88.945294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.131204 # Actual altitude: 67.131204 # Commanded vehicle depth: 88.945294 # Seafloor depth: -154.528707 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530887 meters # Minimum depth: 128.419258 meters looking forward 100.000000 meters along route # Maximum depth: 137.756260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.419258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722888; longitude = -121.970565; duration = 203; initialDepth = 71.010569; finalDepth = 78.419258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.583413 # Actual altitude: 65.583413 # Commanded vehicle depth: 78.419258 # Seafloor depth: -137.756260 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.68; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530708 meters # Minimum depth: 121.010569 meters looking forward 100.000000 meters along route # Maximum depth: 127.001706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.010569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723045; longitude = -121.969445; duration = 203; initialDepth = 64.976296; finalDepth = 71.010569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.337002 # Actual altitude: 59.337002 # Commanded vehicle depth: 71.010569 # Seafloor depth: -127.001706 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530531 meters # Minimum depth: 114.976296 meters looking forward 100.000000 meters along route # Maximum depth: 120.897090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.976296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723203; longitude = -121.968325; duration = 203; initialDepth = 61.306021; finalDepth = 64.976296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.991137 # Actual altitude: 55.991137 # Commanded vehicle depth: 64.976296 # Seafloor depth: -120.897090 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.80; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.530352 meters # Minimum depth: 111.306021 meters looking forward 100.000000 meters along route # Maximum depth: 114.565536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.306021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723360; longitude = -121.967205; duration = 203; initialDepth = 57.452328; finalDepth = 61.306021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.920794 # Actual altitude: 55.920794 # Commanded vehicle depth: 61.306021 # Seafloor depth: -114.565536 # behavior reson { duration = 6; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 104.914511 meters # Minimum depth: 107.452328 meters looking forward 100.000000 meters along route # Maximum depth: 111.166383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.452328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723518; longitude = -121.966085; duration = 209; initialDepth = 57.452328; finalDepth = 57.452328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.714055 # Actual altitude: 53.714055 # Commanded vehicle depth: 57.452328 # Seafloor depth: -111.166383 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 200.000; LoSS_Range = 175.00; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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: 53.714055 # Sonar parameter altitude: 53.714055 # Commanded vehicle depth: 57.452328 # Seafloor depth: -107.500203 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 200.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 175.00; MB_Power = 220; MB_Range = 175.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; MB_Bottom_Detect_Filter_Max_Range = 175.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 107.452328 meters looking forward 100.000000 meters along route # Maximum depth: 110.576735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1680.289242 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.452328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723680; longitude = -121.964928; duration = 1000; initialDepth = 57.452328; finalDepth = 57.452328; 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 = 309.0; 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 = 309.0; 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 = 200.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 175.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 175; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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; } # ####################################################### ####################################################### ####################################################### #######################################################